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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。
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公开(公告)号：US09025856B2
公开(公告)日：2015-05-05
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
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。
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公开(公告)号：US20130335562A1
公开(公告)日：2013-12-19
申请号：US13523634
申请日：2012-06-14
申请人： Arvind Ramanandan , Christopher Brunner , Mahesh Ramachandran , Abhishek Tyagi , Daniel Knoblauch , Murali Ramaswamy Chari
发明人： Arvind Ramanandan , Christopher Brunner , Mahesh Ramachandran , Abhishek Tyagi , Daniel Knoblauch , Murali Ramaswamy Chari
CPC分类号： G06T7/2053 , G01S3/786 , G06T7/254 , G06T2207/10016
摘要： A mobile device tracks a relative pose between a camera and a target using Vision aided Inertial Navigation System (VINS), that includes a contribution from inertial sensor measurements and a contribution from vision based measurements. When the mobile device detects movement of the target, the contribution from the inertial sensor measurements to track the relative pose between the camera and the target is reduced or eliminated. Movement of the target may be detected by comparing vision only measurements from captured images and inertia based measurements to determine if a discrepancy exists indicating that the target has moved. Additionally or alternatively, movement of the target may be detected using projections of feature vectors extracted from captured images.
摘要翻译： 移动设备使用视觉辅助惯性导航系统（VINS）跟踪摄像机和目标之间的相对姿态，其包括来自惯性传感器测量的贡献以及基于视觉的测量的贡献。 当移动设备检测到目标的移动时，减少或消除了惯性传感器测量对跟踪相机和目标之间的相对姿势的贡献。 可以通过仅从仅捕获图像的测量值和基于惯量的测量结果来比较目标的移动是否存在指示目标已移动的差异，来检测目标的移动。 附加地或替代地，可以使用从捕获的图像提取的特征向量的投影来检测目标的移动。
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公开(公告)号：US09123135B2
公开(公告)日：2015-09-01
申请号：US13523634
申请日：2012-06-14
申请人： Arvind Ramanandan , Christopher Brunner , Mahesh Ramachandran , Abhishek Tyagi , Daniel Knoblauch , Murali Ramaswamy Chari
发明人： Arvind Ramanandan , Christopher Brunner , Mahesh Ramachandran , Abhishek Tyagi , Daniel Knoblauch , Murali Ramaswamy Chari
CPC分类号： G06T7/2053 , G01S3/786 , G06T7/254 , G06T2207/10016
摘要： A mobile device tracks a relative pose between a camera and a target using Vision aided Inertial Navigation System (VINS), that includes a contribution from inertial sensor measurements and a contribution from vision based measurements. When the mobile device detects movement of the target, the contribution from the inertial sensor measurements to track the relative pose between the camera and the target is reduced or eliminated. Movement of the target may be detected by comparing vision only measurements from captured images and inertia based measurements to determine if a discrepancy exists indicating that the target has moved. Additionally or alternatively, movement of the target may be detected using projections of feature vectors extracted from captured images.
摘要翻译： 移动设备使用视觉辅助惯性导航系统（VINS）跟踪摄像机和目标之间的相对姿态，其包括来自惯性传感器测量的贡献以及基于视觉的测量的贡献。 当移动设备检测到目标的移动时，减少或消除了惯性传感器测量对跟踪相机和目标之间的相对姿势的贡献。 可以通过仅从仅捕获图像的测量值和基于惯量的测量结果来比较目标的移动是否存在指示目标已移动的差异，来检测目标的移动。 附加地或替代地，可以使用从捕获的图像提取的特征向量的投影来检测目标的移动。
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公开(公告)号：US09116001B2
公开(公告)日：2015-08-25
申请号：US13523638
申请日：2012-06-14
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。
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公开(公告)号：US20130335554A1
公开(公告)日：2013-12-19
申请号：US13523638
申请日：2012-06-14
IPC分类号： H04N7/18
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。
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公开(公告)号：US08880373B2
公开(公告)日：2014-11-04
申请号：US12612529
申请日：2009-11-04
申请人： Victor Kulik , Christopher Brunner
发明人： Victor Kulik , Christopher Brunner
IPC分类号： G01C17/38
CPC分类号： G01C17/38
摘要： Methods and apparatus are described herein for calibration and correction of non-constant sensor errors, and in particular non-constant compass errors, that are based in part on changing software and hardware modes of a host device. The non-constant errors induced in the sensor by each mode and combination of modes is determined in a calibration that may be determined during pre-production testing of one or more host devices. The calibration results can be incorporated into software and/or hardware of the host device. During normal operation, a sensor correction can be applied to sensor measurements based in part on the active mode or combination of modes.
摘要翻译： 这里描述了用于校准和校正非恒定传感器误差，特别是非恒定罗盘误差的方法和装置，其部分基于改变主机设备的软件和硬件模式。 通过每种模式和模式组合在传感器中感应的非常数误差在可以在一个或多个主机设备的预生产测试期间确定的校准中确定。 校准结果可以并入主机设备的软件和/或硬件中。 在正常操作期间，传感器校正可以部分地基于活动模式或模式组合来应用于传感器测量。
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8.发明授权Calibrating multi-dimensional sensor for offset, sensitivity, and non-orthogonality 有权校准多维传感器，用于偏移，灵敏度和非正交性公开(公告)号：US08645093B2
公开(公告)日：2014-02-04
申请号：US12612563
申请日：2009-11-04
申请人： Christopher Brunner
发明人： Christopher Brunner
IPC分类号： G01D3/02 , G01S3/74 , G01R33/025
CPC分类号： G06F3/0346 , G01R33/0035 , G01R33/0206 , G06F3/038
摘要： A multi-dimensional sensor, a magnetometer or accelerometer, is calibrated based on the raw data provided by the sensor. Raw data is collected and may be used to generate ellipse or ellipsoid parameters, for a two-dimensional or three-dimensional sensor, respectively. An offset calibration factor is calculated based on the raw data, e.g., the determined ellipse or ellipsoid parameters. A sensitivity calibration factor is then calculated based on the offset calibration factor and the raw data. A non-orthogonality calibration factor can then be calculated based on the calculated offset and sensitivity calibration factors. Using the offset, sensitivity and non-orthogonality calibration factors, the raw data can be corrected to produce calibrated data.
摘要翻译： 基于由传感器提供的原始数据来校准多维传感器，磁力计或加速度计。 收集原始数据，并分别用于生成二维或三维传感器的椭圆或椭圆参数。 基于原始数据，例如确定的椭圆或椭圆参数来计算偏移校准因子。 然后基于偏移校准因子和原始数据计算灵敏度校准因子。 然后可以基于计算的偏移和灵敏度校准因子来计算非正交性校准因子。 使用偏移，灵敏度和非正交性校准因子，可以校正原始数据以产生校准数据。
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公开(公告)号：US08483706B2
公开(公告)日：2013-07-09
申请号：US12395384
申请日：2009-02-27
IPC分类号： H04W24/00
CPC分类号： H04W64/00 , G01S5/0252 , G01S5/06
摘要： Methods and apparatuses are provided that may be implemented in a wireless signaling environment to provide certain location services. The location services may, for example, be based at least in part on positioning information associated with positioned wireless signaling measurements associated with wireless terminals. The location services may comprise location using signal pattern matching, location using observed timing differences, location using fine time assistance, location of significant network events and location distribution of terminals over a certain coverage area.
摘要翻译： 提供了可以在无线信令环境中实现以提供某些定位服务的方法和装置。 位置服务可以例如至少部分地基于与与无线终端相关联的定位的无线信令测量相关联的定位信息。 位置服务可以包括使用信号模式匹配的位置，使用观察到的定时差异的位置，使用精细时间辅助的位置，重要网络事件的位置和终端在某个覆盖区域上的位置分布。
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10.发明申请公开(公告)号：US20130063589A1
公开(公告)日：2013-03-14
申请号：US13310204
申请日：2011-12-02
申请人： Bolan Jiang , Dheeraj Ahuja , Christopher Brunner
发明人： Bolan Jiang , Dheeraj Ahuja , Christopher Brunner
CPC分类号： G06T7/20 , G01B11/022 , G06T7/246 , G06T2207/10016 , G06T2207/30244
摘要： A homography between two captured images of a planar object is decomposed into at least one possible solution, and typically at least two ambiguous solutions. The ambiguity between the two solutions is removed, or a single solution validated, using measurements from orientation sensors. The measurements from orientation sensors may be used by comparing at least one of the yaw, pitch, and/or roll angles derived from a relative rotation matrix for the one or more solutions to a corresponding at least one of the yaw, pitch, and/or roll angles derived from the measurements from the orientation sensors.
摘要翻译： 平面物体的两个拍摄图像之间的单应性被分解为至少一种可能的解决方案，并且通常至少两个不明确的解决方案。 使用来自定向传感器的测量，可以消除两种解决方案之间的模糊性，或单个解决方案的验证。 来自定向传感器的测量可以通过将从一个或多个解的相对旋转矩阵导出的偏航，俯仰和/或滚动角中的至少一个与偏航，俯仰和/ 或从取向传感器的测量得出的滚动角度。
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