公开(公告)号：US20210209785A1

公开(公告)日：2021-07-08

申请号：US17142199

申请日：2021-01-05

Applicant: QUALCOMM Incorporated

Inventor： Jayakrishnan UNNIKRISHNAN ,  Avdhut JOSHI ,  Shivam AGARWAL ,  Yoga Y NADARAAJAN ,  Amir SALIMI ,  Urs NIESEN ,  Sree Sesha Aravind VADREVU ,  Gautam SACHDEVA

IPC: G06T7/62 ,  G06T7/73 ,  G01S13/06 ,  G01S13/89

Abstract: Techniques and systems are provided for determining one or more sizes of one or more objects. For example, a bounding region identifying a first object detected in an image can be obtained. A map including map points can also be obtained. The map points correspond to one or more reference locations in a three-dimensional space. The bounding region identifying the first object can be associated with at least one map point of the map points included in the map. Using the bounding region and the at least one map point, an estimated three-dimensional position and an estimated size of the first object detected in the image can be determined. In some examples, other information can be used to estimate the estimated three-dimensional position and an estimated size of the first object, such as radar information and/or other information.

公开(公告)号：US20170219716A1

公开(公告)日：2017-08-03

申请号：US15014009

申请日：2016-02-03

Applicant: QUALCOMM Incorporated

Inventor： Urs NIESEN ,  Venkatesan NALLAMPATTI EKAMBARAM ,  Lionel Jacques GARIN ,  Jubin JOSE ,  Xinzhou WU

IPC: G01S19/52 ,  G01S19/42

CPC classification number: G01S19/47 ,  G01C21/165 ,  G01S5/163 ,  G01S19/22 ,  G01S19/426

Abstract: A method of determining a position of a mobile platform includes obtaining a plurality of pseudorange measurements from multiple time epochs of a satellite navigation system (SPS) and obtaining a plurality of visual-inertial odometry (VIO) velocity measurements from a VIO system. Each time epoch of the SPS includes at least one pseudorange measurement corresponding to a first satellite and at least one pseudorange measurement corresponding to a second satellite. The method also includes combining the plurality of pseudorange measurements with the plurality of VIO velocity measurements to identify one or more outlier pseudorange measurements in the plurality of pseudorange measurements. The one or more outlier pseudorange measurements are then discarded from the plurality of pseudorange measurements to generate a remaining plurality of pseudorange measurements. The position of the mobile platform is then computed based on the remaining plurality of pseudorange measurements and the plurality of VIO velocity measurements.

公开(公告)号：US20230392950A1

公开(公告)日：2023-12-07

申请号：US18327147

申请日：2023-06-01

Applicant: QUALCOMM Incorporated

Inventor： Mandar Narsinh KULKARNI ,  Meghana BANDE ,  Urs NIESEN ,  Jubin JOSE

IPC: G01C21/00 ,  H04W4/40 ,  H04W4/02

CPC classification number: G01C21/3804 ,  H04W4/40 ,  H04W4/025

Abstract: Disclosed are techniques for wireless communication. In particular, aspects relate to configuring, triggering and/or transmitting relative and global position-orientation messages (e.g., from a vehicle equipped with sensors to enable estimation of relative and global position-orientation to a network entity).

公开(公告)号：US20220366705A1

公开(公告)日：2022-11-17

申请号：US17816643

申请日：2022-08-01

Applicant: QUALCOMM Incorporated

Inventor： Meghana BANDE ,  Urs NIESEN

IPC: G06V20/56 ,  G06T7/246 ,  G06T7/73

Abstract: A hybrid approach for using reference frames is presented in which a series of anchor frames is used, effectively resetting a global frame upon a trigger event. With each new anchor frame, parameter values for lane boundary estimates (known as lane boundary states) can be recalculated with respect to the new anchor frame. Triggering events may a based on a length of time, distance traveled, and/or an uncertainty value.

公开(公告)号：US20200286247A1

公开(公告)日：2020-09-10

申请号：US16809348

申请日：2020-03-04

Applicant: QUALCOMM Incorporated

Inventor： Urs NIESEN ,  Jayakrishnan UNNIKRISHNAN

IPC: G06T7/50 ,  G06N3/04 ,  G01S17/89

Abstract: Disclosed are techniques for radar-aided single-image three-dimensional (3D) depth reconstruction. In an aspect, at least one processor of an on-board computer of an ego vehicle receives, from a radar sensor of the ego vehicle, at least one radar image of an environment of the ego vehicle, receives, from a camera sensor of the ego vehicle, at least one camera image of the environment of the ego vehicle, and generates, using a convolutional neural network (CNN), a depth image of the environment of the ego vehicle based on the at least one radar image and the at least one camera image.

公开(公告)号：US20200217873A1

公开(公告)日：2020-07-09

申请号：US16242135

申请日：2019-01-08

Applicant: QUALCOMM Incorporated

Inventor： Libin JIANG ,  Urs NIESEN ,  Jubin JOSE

IPC: G01P21/00 ,  G01P15/08 ,  G01P15/14 ,  B60K35/00

Abstract: Techniques provided herein are directed toward addressing these and other issues by providing robust means for initializing an accelerometer that can take place even while a vehicle is in motion. Specifically, linear acceleration and velocity data can be estimated from wheel speeds, and angular velocity can be estimated with a gyroscope. The vehicle's acceleration can then be computed from these estimates, and subtracted from a total acceleration measured by the accelerometer to determine gravitational acceleration, which can then be accounted for in subsequent measurements taken by the accelerometer. A vehicle velocity may also be determined based on the vehicle's estimated angular velocity and linear velocity. Embodiments may also employ techniques for translating measurements taken in one coordinate frame to another coordinate frame for estimate determination and/or outlier compensation.

公开(公告)号：US20190286134A1

公开(公告)日：2019-09-19

申请号：US16121477

申请日：2018-09-04

Applicant: QUALCOMM Incorporated

Inventor： Urs NIESEN ,  Jubin JOSE ,  Xinzhou WU

IPC: G05D1/00 ,  B60W50/00 ,  G05D1/02

Abstract: Methods, apparatuses, and computer-readable media are described. In one example, a method of controlling a vehicle comprises: receiving, using one or more sensors, a first set of measurements of a set of physical attributes of the vehicle in a motion; determining, based on a motion data model that defines a set of relationships among the set of physical attributes of the vehicle in the motion and based on the first set of measurements, a set of expected measurements of the set of physical attributes; determining whether to use an entirety of the first set of measurements to control an operation of the vehicle based on comparing the first set of measurements and the set of expected measurements; and responsive to determining not to use the entirety of the first set of measurements, controlling the operation of the vehicle based on a second set of measurements.

公开(公告)号：US20180074211A1

公开(公告)日：2018-03-15

申请号：US15264460

申请日：2016-09-13

Applicant: QUALCOMM Incorporated

Inventor： Urs NIESEN ,  Lionel Jacques GARIN ,  Jubin JOSE

IPC: G01S19/44 ,  G01S19/23

CPC classification number: G01S19/44 ,  G01S19/23 ,  G01S19/426

Abstract: Determining a position of a device using a signal received from a reference emitter includes: receiving the signal; determining a state of a first filter, the state of the first filter including a first carrier phase ambiguity estimate that includes a floating value; determining a state of a second filter, the state of the second filter including a second carrier phase ambiguity estimate that includes a fixed value; determining whether the state of the second filter is consistent with one other filter state or measurement; maintaining the state of the second filter in response to the device determining that the state of the second filter is consistent with the other filter state; changing the state of the second filter to the state of the first filter in response to the device determining that the state of the second filter is not consistent with the other filter state.

公开(公告)号：US20180007511A1

公开(公告)日：2018-01-04

申请号：US15708011

申请日：2017-09-18

Applicant: QUALCOMM Incorporated

Inventor： Venkatesan NALLAMPATTI EKAMBARAM ,  Urs NIESEN ,  Jubin JOSE ,  Xinzhou WU

IPC: H04W4/02 ,  H04W28/02 ,  H04W24/08 ,  H04W4/04 ,  G01S13/74 ,  H04W64/00 ,  G01S7/40

CPC classification number: H04W4/023 ,  G01S7/40 ,  G01S13/74 ,  H04W4/046 ,  H04W24/08 ,  H04W28/0284 ,  H04W64/00

Abstract: A range between a first wireless device and a second wireless device is estimated using a first mechanism based on messages transmitted over a first communication channel. The first communication channel is associated with a first radio access technology capability of the wireless devices. One or more metrics indicative of an accuracy of the range estimates provided by the first mechanism are obtained. A second mechanism to estimate a range between the first wireless device and the second wireless device may be implemented in favor of the first mechanism when the metric fails to satisfy a criterion. The second mechanism is based on unicast messages transmitted over a second communication channel. The second communication channel is associated with a second radio access technology capability of the wireless devices and may be the same as, or different from, the first communication channel.

公开(公告)号：US20170219717A1

公开(公告)日：2017-08-03

申请号：US15014004

申请日：2016-02-02

Applicant: QUALCOMM Incorporated

Inventor： Venkatesan NALLAMPATTI EKAMBARAM ,  Jubin JOSE ,  Urs NIESEN ,  Xinzhou WU ,  Lionel Jacques GARIN

IPC: G01S19/53 ,  G01S19/52 ,  G01S19/42

CPC classification number: G01S19/53 ,  G01C21/165 ,  G01S5/163 ,  G01S11/12 ,  G01S19/42 ,  G01S19/47 ,  G01S19/52

Abstract: A method for aligning visual-inertial odometry (VIO) and satellite positioning system (SPS) reference frames includes obtaining a plurality of range-rate measurements of a mobile platform from an SPS. The range-rate measurements are with respect to a global reference frame of the SPS. The method also includes obtaining a plurality of VIO velocity measurements of the mobile platform from a VIO system. The VIO velocity measurements are with respect to a local reference frame of the VIO system. At least one orientation parameter is then determined to align the local reference frame with the global reference frame based on the range-rate measurements and the VIO velocity measurements.