公开(公告)号：US11195049B2

公开(公告)日：2021-12-07

申请号：US15923492

申请日：2018-03-16

Applicant: Google LLC

Inventor： Joel Hesch ,  Esha Nerurkar ,  Patrick Mihelich

IPC: G06K9/00 ,  G06K9/62 ,  G06T7/73

Abstract: An electronic device includes one or more imaging cameras. After a reset of the device or other specified event, the electronic device identifies an estimate of the device's pose based on location data such as Global Positioning System (GPS) data, cellular tower triangulation data, wireless network address location data, and the like. The one or more imaging cameras may be used to capture imagery of the local environment of the electronic device, and this imagery is used to refine the estimated pose to identify a refined pose of the electronic device. The refined pose may be used to identify additional imagery information, such as environmental features, that can be used to enhance the location based functionality of the electronic device.

公开(公告)号：US10203209B2

公开(公告)日：2019-02-12

申请号：US15605448

申请日：2017-05-25

Applicant: Regents of the University of Minnesota ,  Google LLC

Inventor： Stergios I. Roumeliotis ,  Esha D. Nerurkar ,  Joel Hesch ,  Chao Guo ,  Ryan C. DuToit ,  Kourosh Sartipi ,  Georgios Georgiou

IPC: G01C21/00 ,  G01C21/16 ,  G06T17/05 ,  G06T19/00 ,  G06T17/00 ,  G06T7/00 ,  G01C21/32 ,  H04W4/02

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.

公开(公告)号：US10154190B2

公开(公告)日：2018-12-11

申请号：US15730278

申请日：2017-10-11

Applicant: Google LLC

Inventor： Joel Hesch ,  James Fung

IPC: H04N5/235 ,  H04N5/232 ,  H04N5/225 ,  H04N5/14 ,  H04N9/73 ,  G01B11/25 ,  H04N13/00 ,  H04N13/15 ,  G01S3/00 ,  G01S5/02 ,  H04N5/243

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.

公开(公告)号：US10890600B2

公开(公告)日：2021-01-12

申请号：US15596016

申请日：2017-05-16

Applicant: GOOGLE LLC

Inventor： Mingyang Li ,  Joel Hesch ,  Zachary Moratto

IPC: G01P21/00 ,  G06F3/038 ,  G01S5/02 ,  G01C19/00 ,  G06T7/73 ,  G06F3/01 ,  G06F17/18

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.

公开(公告)号：US10275945B2

公开(公告)日：2019-04-30

申请号：US15664754

申请日：2017-07-31

Applicant: GOOGLE LLC

Inventor： Johnny Chung Lee ,  Joel Hesch ,  Ryan Hickman ,  Patrick Mihelich ,  James Fung

IPC: G09G5/00 ,  G06T19/00 ,  H04L29/06 ,  H04W4/02 ,  H04W4/04 ,  H04L29/08

Abstract: An electronic device includes at least one sensor, a display, and a processor. The processor is configured to determine a dimension of a physical object along an axis based on a change in position of the electronic device when the electronic device is moved from a first end of the physical object along the axis to a second end of the physical object along the axis. A method includes capturing and displaying imagery of a physical object at an electronic device, and receiving user input identifying at least two points of the physical object in the displayed imagery. The method further includes determining, at the electronic device, at least one dimensional aspect of the physical object based on the at least two points of the physical object using a three-dimensional mapping of the physical object.

公开(公告)号：US10852847B2

公开(公告)日：2020-12-01

申请号：US15660216

申请日：2017-07-26

Applicant: GOOGLE LLC

Inventor： Joel Hesch ,  Shiqi Chen ,  Johnny Lee ,  Rahul Garg

IPC: G06F3/0346 ,  G06T7/73 ,  G06F3/0354 ,  G06F3/01

Abstract: A method for controller tracking with multiple degrees of freedom includes generating depth data at an electronic device based on a local environment proximate the electronic device. A set of positional data is generated for at least one spatial feature associated with a controller based on a pose of the electronic device, as determined using the depth data, relative to the at least one spatial feature associated with the controller. A set of rotational data is received that represents three degrees-of-freedom (3DoF) orientation of the controller within the local environment, and a six degrees-of-freedom (6DoF) position of the controller within the local environment is tracked based on the set of positional data and the set of rotational data.

公开(公告)号：US10529135B2

公开(公告)日：2020-01-07

申请号：US15220847

申请日：2016-07-27

Applicant: GOOGLE LLC

Inventor： Joel Hesch ,  Ashish Shah ,  James Fung

IPC: G09G5/00 ,  G06T19/00 ,  G02B27/01 ,  G06T7/60 ,  G09G5/18

Abstract: A head mounted display (HMD) adjusts feature tracking parameters based on a power mode of the HMD. Examples of feature tracking parameters that can be adjusted include the number of features identified from captured images, the scale of features identified from captured images, the number of images employed for feature tracking, and the like. By adjusting its feature tracking parameters based on its power mode, the HMD can initiate the feature tracking process in low-power modes and thereby shorted the time for high-fidelity feature tracking when a user initiates a VR or AR experience at the HMD.