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公开(公告)号：US09940542B2
公开(公告)日：2018-04-10
申请号：US14823283
申请日：2015-08-11
Applicant: Google Inc.
Inventor： Esha Nerurkar , Joel Hesch , Simon Lynen
CPC classification number: G06K9/6212 , G05D1/0268 , G06F3/011 , G06F17/30247 , G06F17/30265 , G06F17/3087 , G06K9/46 , G06K9/6267 , G06T7/246 , G06T7/521 , G06T7/593 , G06T7/70 , G06T7/73
Abstract: An electronic device reduces localization data based on feature characteristics identified from the data. Based on the feature characteristics, a quality value can be assigned to each identified feature, indicating the likelihood that the data associated with the feature will be useful in mapping a local environment of the electronic device. The localization data is reduced by removing data associated with features have a low quality value, and the reduced localization data is used to map the local environment of the device by locating features identified from the reduced localization data in a frame of reference for the electronic device.
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公开(公告)号：US20170343356A1
公开(公告)日：2017-11-30
申请号：US15605448
申请日：2017-05-25
Applicant: Regents of the University of Minnesota , Google Inc.
Inventor： Stergios I. Roumeliotis , Esha D. Nerurkar , Joel Hesch , Chao Guo , Ryan C. DuToit , Kourosh Sartipi , Georgios Georgiou
CPC classification number: G01C21/165 , G01C21/32 , G06T7/246 , G06T7/277 , G06T7/73 , G06T17/005 , G06T17/05 , G06T19/003 , G06T2207/30241 , G06T2207/30244 , H04W4/026 , H04W4/027
Abstract: A method includes: receiving, with a computing platform, respective trajectory data and map data independently generated by each of a plurality of vision-aided inertial navigation devices (VINS devices) traversing an environment, wherein the trajectory data specifies poses along a path through the environment for the respective VINS device and the map data specifies positions of observed features within the environment as determined by an estimator executed by the respective VINS device; determining, with the computing platform and based on the respective trajectory data and map data from each of the VINS devices, estimates for relative poses within the environment by determining transformations that geometrically relate the trajectory data and the map data between one or more pairs of the VINS devices; and generating, with the computing platform and based on the transformations, a composite map specifying positions within the environment for the features observed by the VINS devices.
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公开(公告)号：US20170336439A1
公开(公告)日：2017-11-23
申请号：US15596016
申请日：2017-05-16
Applicant: Google Inc.
Inventor： Mingyang Li , Joel Hesch , Zachary Moratto
CPC classification number: G01P21/00 , G01C19/00 , G01S5/0294 , G06F3/011 , G06F3/038 , G06F17/18 , G06T7/74
Abstract: Fault detection for real-time visual-inertial odometry motion tracking. A fault detection system allows immediate detection of error when the motion of a device cannot be accurately determined. The system includes subdetectors that operate independently and in parallel to a main system on a device to determine if a condition exists which results in a main system error. Each subdetector covers a phase of a six-degrees of freedom (6DOF) estimation. If any of the subdetectors detect an error, a fault is output to the main system to indicate a motion tracking failure.
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Patent Agency Ranking
24.发明授权公开(公告)号：US09752892B2
公开(公告)日：2017-09-05
申请号：US14185176
申请日：2014-02-20
Applicant: Google Inc.
Inventor： James Fung , Joel Hesch , Johnny Lee
CPC classification number: G01C23/00
Abstract: Methods and systems for acquiring sensor data using multiple acquisition modes are described. An example method involves receiving, by a co-processor and from an application processor, a request for sensor data. The request identifies at least two sensors of a plurality of sensors for which data is requested. The at least two sensors are configured to acquire sensor data in a plurality of acquisition modes, and the request further identifies for the at least two sensors respective acquisition modes for acquiring data that are selected from among the plurality of acquisition modes. In response to receiving the request, the co-processor causes the at least two sensors to acquire data in the respective acquisition modes. The co-processor receives first sensor data from a first sensor and second sensor data from a second sensor, and the co-processor provides the first sensor data and the second sensor data to the application processor.
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25.发明申请公开(公告)号：US20170118400A1
公开(公告)日：2017-04-27
申请号：US14918730
申请日：2015-10-21
Applicant: Google Inc.
Inventor： Joel Hesch , James Fung
CPC classification number: H04N5/23216 , G01B11/25 , G01B11/2545 , G01S3/00 , G01S5/0263 , H04N5/145 , H04N5/2256 , H04N5/23238 , H04N5/23254 , H04N5/23258 , H04N5/2327 , H04N5/2353 , H04N5/243 , H04N9/735 , H04N13/0037 , H04N13/15
Abstract: An electronic device balances gain and exposure at an imaging sensor of the device based on detected image capture conditions, such as motion of the electronic device, distance of a scene from the electronic device, and predicted illumination conditions for the electronic device. By balancing the gain and exposure, the quality of images captured by the imaging sensor is enhanced, which in turn provides for improved support of location-based functionality.
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公开(公告)号：US09424619B2
公开(公告)日：2016-08-23
申请号：US14185027
申请日：2014-02-20
Applicant: Google Inc.
Inventor： James Fung , Joel Hesch , Johnny Lee
CPC classification number: G06T1/0021 , G03B19/00 , H04N5/23229
Abstract: Methods and systems for detecting frame tears are described. As one example, a mobile device may include at least one camera, a sensor, a co-processor, and an application processor. The co-processor is configured to generate a digital image including image data from the at least one camera and sensor data from the sensor. The co-processor is further configured to embed a frame identifier corresponding to the digital image at least two corner pixels of the digital image. The application processor is configured to receive the digital image from the co-processor, determine a first value embedded in a first corner pixel of the digital image, and determined a second value embedded in a second corner pixel of the digital image. The application processor is also configured to provide an output indicative of a validity of the digital image based on a comparison between the first value and the second value.
Abstract translation: 描述了用于检测框架撕裂的方法和系统。 作为一个示例，移动设备可以包括至少一个相机，传感器，协处理器和应用处理器。 协处理器被配置为生成包括来自至少一个照相机的图像数据和来自传感器的传感器数据的数字图像。 协处理器还被配置为将与数字图像相对应的帧标识符嵌入数字图像的至少两个角落像素。 应用处理器被配置为从协处理器接收数字图像，确定嵌入在数字图像的第一角落像素中的第一值，并且确定嵌入在数字图像的第二角落像素中的第二值。 应用处理器还被配置为基于第一值和第二值之间的比较来提供指示数字图像的有效性的输出。
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公开(公告)号：US09313343B2
公开(公告)日：2016-04-12
申请号：US14185091
申请日：2014-02-20
Applicant: Google Inc.
Inventor： James Fung , Joel Hesch , Johnny Lee
CPC classification number: H04N1/00204 , H04N1/2133 , H04N1/215 , H04N1/32128 , H04N5/2257 , H04N5/232 , H04N5/23229 , H04N5/772 , H04N2201/0084 , H04N2201/3247 , H04N2201/3252
Abstract: Methods and systems for communicating sensor data on a mobile device are described. An example method involves receiving, by a processor and from an inertial measurement unit (IMU), sensor data corresponding to a first timeframe, and storing the sensor data using a data buffer. The processor may also receive image data and sensor data corresponding to a second timeframe. The processor may then generate a digital image that includes at least the image data corresponding to the second timeframe and the sensor data corresponding to the first timeframe and the second timeframe. The processor may embed the stored sensor data corresponding to the first timeframe and the second timeframe in pixels of the digital image. And the processor may provide the digital image to an application processor of the mobile device.
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公开(公告)号：US20150235099A1
公开(公告)日：2015-08-20
申请号：US14185616
申请日：2014-02-20
Applicant: Google Inc.
Inventor： Johnny Lee , Joel Hesch
CPC classification number: G06K9/00744 , G06T7/246 , G06T7/66 , G06T7/73 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2207/30244 , H04W4/023 , H04W4/027 , H04W4/029
Abstract: Methods and systems for determining features of interest for following within various frames of data received from multiple sensors of a device are disclosed. An example method may include receiving data from a plurality of sensors of a device. The method may also include determining, based on the data, motion data that is indicative of a movement of the device in an environment. The method may also include as the device moves in the environment, receiving image data from a camera of the device. The method may additionally include selecting, based at least in part on the motion data, features in the image data for feature-following. The method may further include estimating one or more of a position of the device or a velocity of the device in the environment as supported by the data from the plurality of sensors and feature-following of the selected features in the images.
Abstract translation: 公开了用于确定在从设备的多个传感器接收的各种数据帧内追踪的特征的方法和系统。 示例性方法可以包括从设备的多个传感器接收数据。 该方法还可以包括基于数据确定指示设备在环境中的移动的运动数据。 该方法还可以包括当设备在环境中移动时，从设备的照相机接收图像数据。 该方法可以另外包括至少部分地基于运动数据来选择用于特征跟踪的图像数据中的特征。 该方法还可以包括估计设备的位置或环境中的设备的速度中的一个或多个，如来自多个传感器的数据所支持的，以及图像中所选特征的特征。
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