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    Adaptive estimation of frame time stamp latency
    1.
    发明授权
    Adaptive estimation of frame time stamp latency 有权
    帧时间戳延迟的自适应估计

    公开(公告)号：US09116001B2

    公开(公告)日：2015-08-25

    申请号：US13523638

    申请日：2012-06-14

    申请人： Christopher Brunner ,  Mahesh Ramachandran ,  Arvind Ramanandan ,  Murali Ramaswamy Chari

    发明人： Christopher Brunner ,  Mahesh Ramachandran ,  Arvind Ramanandan ,  Murali Ramaswamy Chari

    IPC分类号： G01C21/16 ,  H04N17/00 ,  H04N5/232

    CPC分类号： G01C21/16 ,  H04N5/23254 ,  H04N5/23258 ,  H04N17/002

    摘要： A mobile device compensates for a lack of a time stamp when an image frame is captured by estimating the frame time stamp latency. The mobile device captures images frames and time stamps each frame after the frame time stamp latency. A vision based rotation is determined from a pair of frames. A plurality of inertia based rotations is measured using time stamped signals from an inertial sensor in the mobile device based on different possible delays between time stamping each frame and time stamps on the signals from the inertial sensors. The determined rotations may be about the camera's optical axis. The vision based rotation is compared to the plurality of inertia based rotations to determine an estimated frame time stamp latency, which is used to correct the frame time stamp latency when time stamping subsequently captured frames. A median latency determined using different frame pairs may be used.

    摘要翻译： 当通过估计帧时间戳等待时间来捕获图像帧时，移动设备补偿缺少时间戳。 移动设备在帧时间戳延迟之后每帧捕获图像帧和时间戳。 基于视觉的旋转由一对帧确定。 基于来自移动设备中的惯性传感器的时间戳信号，基于每个帧的时间戳和来自惯性传感器的信号的时间戳之间的不同可能的延迟来测量多个基于惯量的旋转。 确定的旋转可以是关于相机的光轴。 将基于视觉的旋转与多个基于惯性的旋转进行比较，以确定估计的帧时间戳延迟，其用于在随后拍摄的帧时间戳时校正帧时间戳等待时间。 可以使用使用不同帧对确定的中值等待时间。

    ROBOT CONTROL INFORMATION
    2.
    发明申请
    ROBOT CONTROL INFORMATION 有权
    机器人控制信息

    公开(公告)号：US20140064601A1

    公开(公告)日：2014-03-06

    申请号：US13604470

    申请日：2012-09-05

    申请人： Mahesh Ramachandran ,  Christopher Brunner ,  Arvind Ramanandan ,  Abhishek Tyagi ,  Murali Ramaswamy Chari

    发明人： Mahesh Ramachandran ,  Christopher Brunner ,  Arvind Ramanandan ,  Abhishek Tyagi ,  Murali Ramaswamy Chari

    IPC分类号： G06K9/00

    CPC分类号： B25J9/1697 ,  G05B2219/36488 ,  G05B2219/39449

    摘要： Vision based tracking of a mobile device is used to remotely control a robot. For example, images captured by a mobile device, e.g., in a video stream, are used for vision based tracking of the pose of the mobile device with respect to the imaged environment. Changes in the pose of the mobile device, i.e., the trajectory of the mobile device, are determined and converted to a desired motion of a robot that is remote from the mobile device. The robot is then controlled to move with the desired motion. The trajectory of the mobile device is converted to the desired motion of the robot using a transformation generated by inverting a hand-eye calibration transformation.

    摘要翻译： 使用移动设备的基于视觉的跟踪来远程控制机器人。 例如，由诸如视频流中的移动设备捕获的图像被用于相对于成像环境的基于视觉的跟踪移动设备姿态。 确定移动设备的姿态，即移动设备的轨迹的变化，并将其转换为远离移动设备的机器人的期望运动。 然后控制机器人以期望的运动移动。 使用通过反转手眼校准变换产生的变换将移动设备的轨迹转换为机器人的期望运动。

    Selective network switching in a wireless broadcast network
    5.
    发明授权
    Selective network switching in a wireless broadcast network 有权
    无线广播网络中的选择性网络切换

    公开(公告)号：US07948907B2

    公开(公告)日：2011-05-24

    申请号：US11343380

    申请日：2006-01-30

    申请人： Michael Mao Wang ,  Ashok Mantravadi ,  Murali Ramaswamy Chari

    发明人： Michael Mao Wang ,  Ashok Mantravadi ,  Murali Ramaswamy Chari

    IPC分类号： H04L12/26 ,  H04W4/00

    CPC分类号： H04B1/3805 ,  H04H20/26 ,  H04H40/18

    摘要： The disclosure is directed to a mobile communication device that may receive wireless broadcast signals from a number of different base stations or transmitters. As the location of the device moves relative to the transmitters, one transmitter will likely be identified as the transmitter broadcast the strongest, or highest quality, signal. When that determination is made, the user of the mobile device is presented the opportunity to switch to receiving that transmitters signal. Based on the user's reply, the device may remain with the current transmitter, even though it does not have the strongest signal, or the device may be configured to acquire and start receiving the new transmitter's signal. The measuring of the quality of a transmitter's signal may be based on a composite score that combines a number of individual measurements made over a predetermined period of time.

    摘要翻译： 本公开针对可从多个不同基站或发射机接收无线广播信号的移动通信设备。 随着设备的位置相对于发射机移动，一个发射机可能被识别为发射机广播最强或最高质量的信号。 当进行该确定时，向移动设备的用户呈现切换到接收该发射机信号的机会。 基于用户的答复，即使设备没有最强的信号，设备仍然可以保持当前的发射机，或者设备可能被配置为获取和开始接收新的发射机的信号。 发射机信号的质量的测量可以基于组合在预定时间段内进行的多个单独测量的综合得分。

    Accelerated geometric shape detection and accurate pose tracking
    7.
    发明授权
    Accelerated geometric shape detection and accurate pose tracking 有权
    加速几何形状检测和准确姿态跟踪

    公开(公告)号：US09224205B2

    公开(公告)日：2015-12-29

    申请号：US13523635

    申请日：2012-06-14

    申请人： Yanghai Tsin ,  Prasun Choudhury ,  Murali Ramaswamy Chari

    发明人： Yanghai Tsin ,  Prasun Choudhury ,  Murali Ramaswamy Chari

    IPC分类号： G06K9/46 ,  H04N5/228 ,  G06T7/00 ,  G06T7/20

    CPC分类号： G06T7/75 ,  G06T7/181 ,  G06T7/251 ,  G06T2207/20061 ,  G06T2207/30204 ,  G06T2207/30244

    摘要： A reference in an unknown environment is generated on the fly for positioning and tracking. The reference is produced in a top down process by capturing an image of a planar object with a predefined geometric shape, detecting edge pixels of the planar object, then detecting a plurality of line segments from the edge pixels. The plurality of line segments may then be used to detect the planar object in the image based on the predefined geometric shape. An initial pose of the camera with respect to the planar object is determined and tracked using the edges of the planar object.

    摘要翻译： 在未知环境中的参考是在飞行中生成的，用于定位和跟踪。 通过以预定几何形状捕获平面物体的图像，检测平面物体的边缘像素，然后从边缘像素检测多个线段，从而产生参考。 然后可以使用多个线段来基于预定义的几何形状来检测图像中的平面物体。 使用平面物体的边缘来确定和跟踪相机相对于平面物体的初始姿态。

    Evaluation of transmitter performance
    10.
    发明授权
    Evaluation of transmitter performance 失效
    发射机性能评估

    公开(公告)号：US07733968B2

    公开(公告)日：2010-06-08

    申请号：US11361085

    申请日：2006-02-22

    申请人： Fuyun Ling ,  Durk L. Van Veen ,  Murali Ramaswamy Chari ,  Thomas Sun

    发明人： Fuyun Ling ,  Durk L. Van Veen ,  Murali Ramaswamy Chari ,  Thomas Sun

    IPC分类号： H04L27/28

    CPC分类号： H04L5/023 ,  H04B17/13 ,  H04B17/391 ,  H04L25/022 ,  H04L25/0224 ,  H04L25/0232 ,  H04L27/0012

    摘要： Systems and methodologies are described that facilitate monitoring transmitter performance in a wireless communication environment. A signal analyzer can be used to sample the output of a transmitter and the sampled signal can be propagated to a processor. The processor can generate frequency domain channel estimates for the subcarriers. If the transmitted modulation symbols are unknown, the processor can determine the modulation symbols and use the determined modulation symbols to calculate the channel estimates. The channel estimates can be averaged and used to generate various metrics to evaluate the transmitter performance.

    摘要翻译： 描述了便于在无线通信环境中监视发射机性能的系统和方法。 信号分析仪可用于对发射机的输出采样，采样信号可以传播到处理器。 处理器可以产生子载波的频域信道估计。 如果发送的调制符号是未知的，则处理器可以确定调制符号并使用确定的调制符号来计算信道估计。 信道估计可以被平均化并用于生成各种度量以评估发射机的性能。