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公开(公告)号：US11734846B2
公开(公告)日：2023-08-22
申请号：US16875488
申请日：2020-05-15
Applicant: GOOGLE LLC
Inventor： Esha Nerurkar , Simon Lynen , Sheng Zhao
IPC: G06T7/55 , G06F3/01 , G06F3/038 , G06T7/73 , H04N13/271 , G01S7/481 , H04N13/156 , H04N13/214 , H04N13/243 , G06T19/20
CPC classification number: G06T7/55 , G06F3/011 , G06F3/038 , G06T7/73 , H04N13/271 , G01S7/4817 , G06T2207/10012 , G06T2207/10028 , G06T2207/30244 , H04N13/156 , H04N13/214 , H04N13/243
Abstract: An electronic device tracks its motion in an environment while building a three-dimensional visual representation of the environment that is used to correct drift in the tracked motion. A motion tracking module estimates poses of the electronic device based on feature descriptors corresponding to the visual appearance of spatial features of objects in the environment. A mapping module builds a three-dimensional visual representation of the environment based on a stored plurality of maps, and feature descriptors and estimated device poses received from the motion tracking module. The mapping module provides the three-dimensional visual representation of the environment to a localization module, which identifies correspondences between stored and observed feature descriptors. The localization module performs a loop closure by minimizing the discrepancies between matching feature descriptors to compute a localized pose. The localized pose corrects drift in the estimated pose generated by the motion tracking module.
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公开(公告)号：US10937214B2
公开(公告)日：2021-03-02
申请号：US15466494
申请日：2017-03-22
Applicant: GOOGLE LLC
Inventor： Esha Nerurkar , Simon Lynen , Dongfang Zheng
Abstract: An electronic device merges a plurality of maps, or area description files (ADFs), by representing relationships among ADFs in an undirected graph, with vertices representing maps and edges representing transformations between maps. As the electronic device generates new ADFs, the electronic device merges each new ADF to a stored collection of ADFs by adding each new ADF as a vertex and transformations between the new ADF and the collection of ADFs as edges in the undirected graph. In this way, the map merger can use the undirected graph to more accurately represent the relations between any two maps, allowing more efficient merger of new maps to a previously stored collection of maps, and allowing for the development of more flexible and efficient algorithms for manipulating the merged maps.
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Patent Agency Ranking
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
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.
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公开(公告)号：US11017610B2
公开(公告)日：2021-05-25
申请号：US15597366
申请日：2017-05-17
Applicant: GOOGLE LLC
Inventor： Esha Nerurkar , Sheng Zhao
Abstract: An electronic device detects and recovers from fault conditions while tracking its motion and building a map of its environment. A front-end motion tracking module detects fault conditions while tracking motion over time and provides mapping data to a back-end mapping module. The front-end motion tracking module indicates to the back-end mapping module when a fault condition has been detected and when the fault condition is no longer detected. The back-end mapping module generates maps from the mapping data and merges the maps to build a three-dimensional representation of the environment. The back-end mapping module buffers or discards any mapping data received from the front-end motion tracking module during the existence of a fault condition. The back-end mapping module merges the maps generated based on mapping data received before and after the fault condition and adds the merged maps to the three-dimensional representation of the environment.
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公开(公告)号：US20200278449A1
公开(公告)日：2020-09-03
申请号：US16875488
申请日：2020-05-15
Applicant: GOOGLE LLC
Inventor： Esha Nerurkar , Simon Lynen , Sheng Zhao
Abstract: An electronic device tracks its motion in an environment while building a three-dimensional visual representation of the environment that is used to correct drift in the tracked motion. A motion tracking module estimates poses of the electronic device based on feature descriptors corresponding to the visual appearance of spatial features of objects in the environment. A mapping module builds a three-dimensional visual representation of the environment based on a stored plurality of maps, and feature descriptors and estimated device poses received from the motion tracking module. The mapping module provides the three-dimensional visual representation of the environment to a localization module, which identifies correspondences between stored and observed feature descriptors. The localization module performs a loop closure by minimizing the discrepancies between matching feature descriptors to compute a localized pose. The localized pose corrects drift in the estimated pose generated by the motion tracking module.
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公开(公告)号：US10802147B2
公开(公告)日：2020-10-13
申请号：US15595617
申请日：2017-05-15
Applicant: GOOGLE LLC
Inventor： Esha Nerurkar , Simon Lynen , Sheng Zhao
IPC: G01S17/89 , G06T7/73 , G06F3/038 , G06F3/01 , G06T7/55 , H04N13/271 , H04N13/156 , H04N13/214 , H04N13/243 , G01S7/481
Abstract: An electronic device tracks its motion in an environment while building a three-dimensional visual representation of the environment that is used to correct drift in the tracked motion. A motion tracking module estimates poses of the electronic device based on feature descriptors corresponding to the visual appearance of spatial features of objects in the environment. A mapping module builds a three-dimensional visual representation of the environment based on a stored plurality of maps, and feature descriptors and estimated device poses received from the motion tracking module. The mapping module provides the three-dimensional visual representation of the environment to a localization module, which identifies correspondences between stored and observed feature descriptors. The localization module performs a loop closure by minimizing the discrepancies between matching feature descriptors to compute a localized pose. The localized pose corrects drift in the estimated pose generated by the motion tracking module.
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公开(公告)号：US20230360242A1
公开(公告)日：2023-11-09
申请号：US18224414
申请日：2023-07-20
Applicant: GOOGLE LLC
Inventor： Esha Nerurkar , Simon Lynen , Sheng Zhao
IPC: G06T7/55 , G06T7/73 , G06F3/038 , G06F3/01 , H04N13/271
CPC classification number: G06T7/55 , G06T7/73 , G06F3/038 , G06F3/011 , H04N13/271 , G06T2207/30244 , H04N13/156
Abstract: An electronic device tracks its motion in an environment while building a three-dimensional visual representation of the environment that is used to correct drift in the tracked motion. A motion tracking module estimates poses of the electronic device based on feature descriptors corresponding to the visual appearance of spatial features of objects in the environment. A mapping module builds a three-dimensional visual representation of the environment based on a stored plurality of maps, and feature descriptors and estimated device poses received from the motion tracking module. The mapping module provides the three-dimensional visual representation of the environment to a localization module, which identifies correspondences between stored and observed feature descriptors. The localization module performs a loop closure by minimizing the discrepancies between matching feature descriptors to compute a localized pose. The localized pose corrects drift in the estimated pose generated by the motion tracking module.
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