公开(公告)号：US20150092985A1

公开(公告)日：2015-04-02

申请号：US14497135

申请日：2014-09-25

Applicant: QUALCOMM Incorporated

Inventor： Mahesh RAMACHANDRAN ,  Arvind RAMANANDAN ,  Christopher BRUNNER ,  Abhishek TYAGI ,  Murali Ramaswamy CHARI ,  Mingyang LI

IPC: G06T7/20

CPC classification number: G06T7/246 ,  G01C21/165 ,  G01S5/0263 ,  G01S5/0294 ,  G01S19/39 ,  G06T7/277 ,  G06T2207/10004 ,  G06T2207/10016

Abstract: Techniques are disclosed for estimating one or more parameters in a system. A device obtains measurements corresponding to a first set of features and a second set of features. The device estimates the parameters using an extended Kalman filter based on the measurements corresponding to the first set of features and the second set of features. The measurements corresponding to the first set of features are used to update the one or more parameters, and information corresponding to the first set of features. The measurements corresponding to the second set of features are used to update the parameters and uncertainty corresponding to the parameter. In on example, information corresponding to the second set of features is not updated during the estimating. Moreover, the parameters are estimated without projecting the information corresponding to the second set of features into a null-space.

Abstract translation: 公开了用于估计系统中的一个或多个参数的技术。 设备获得对应于第一组特征和第二组特征的测量。 该设备基于与第一组特征和第二组特征相对应的测量使用扩展卡尔曼滤波器来估计参数。 对应于第一组特征的测量用于更新一个或多个参数以及对应于第一组特征的信息。 对应于第二组特征的测量用于更新与参数对应的参数和不确定性。 在示例中，在估计期间不更新与第二组特征相对应的信息。 此外，估计参数而不将与第二组特征对应的信息投影到空空间中。

公开(公告)号：US20140126771A1

公开(公告)日：2014-05-08

申请号：US14014174

申请日：2013-08-29

Applicant: QUALCOMM Incorporated

Inventor： Arvind RAMANANDAN ,  Christopher Brunner ,  Mahesh Ramachandran ,  Murali Ramaswamy Chari

IPC: G06T7/00

CPC classification number: G06T7/004 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30244

Abstract: Systems, apparatus and methods for estimating gravity and/or scale in a mobile device are presented. A difference between an image-based pose and an inertia-based pose is using to update the estimations of gravity and/or scale. The image-based pose is computed from two poses and is scaled with the estimation of scale prior to the difference. The inertia-based pose is computed from accelerometer measurements, which are adjusted by the estimation for gravity.

Abstract translation: 提出了用于估计移动设备中的重力和/或尺度的系统，装置和方法。 基于图像的姿势和基于惯性的姿势之间的差异正在用于更新重力和/或尺度的估计。 基于图像的姿势由两个姿态计算，并且在差异之前用缩放比例缩放。 基于惯性的姿态由加速度计测量计算，通过重力估计进行调整。

公开(公告)号：US20150094952A1

公开(公告)日：2015-04-02

申请号：US14497235

申请日：2014-09-25

Applicant: QUALCOMM Incorporated

Inventor： Mark Leo MOEGLEIN ,  Christopher BRUNNER ,  Arvind RAMANANDAN ,  Mahesh RAMACHANDRAN ,  Abhishek TYAGI ,  Murali Ramaswamy CHARI

IPC: G01C21/00 ,  G06T7/20 ,  G01S19/13

CPC classification number: G06T7/248 ,  G01C21/00 ,  G01C21/165 ,  G01C21/20 ,  G01C21/206 ,  G01C25/005 ,  G01S5/0263 ,  G01S5/0294 ,  G01S5/16 ,  G01S5/163 ,  G01S19/13 ,  G01S19/14 ,  G06K9/00671 ,  G06T7/579 ,  G06T7/60 ,  G06T7/80 ,  G06T2207/10004 ,  G06T2207/10016 ,  G06T2207/10032 ,  G06T2207/30212 ,  G06T2207/30241 ,  G06T2207/30244 ,  G06T2207/30252 ,  H04M2250/12 ,  H04M2250/52 ,  H04W4/029 ,  H04W4/043 ,  H04W4/33

Abstract: Embodiments disclosed pertain to the use of user equipment (UE) for the generation of a 3D exterior envelope of a structure based on captured images and a measurement set associated with each captured image. In some embodiments, a sequence of exterior images of a structure is captured and a corresponding measurement set comprising Inertial Measurement Unit (IMU) measurements, wireless measurements (including Global Navigation Satellite (GNSS) measurements) and/or other non-wireless sensor measurements may be obtained concurrently. A closed-loop trajectory of the UE in global coordinates may be determined and a 3D structural envelope of the structure may be obtained based on the closed loop trajectory and feature points in a subset of images selected from the sequence of exterior images of the structure.

Abstract translation: 所公开的实施例涉及使用用户设备（UE），用于基于所捕获的图像和与每个捕捉的图像相关联的测量集合来生成结构的3D外部包络。 在一些实施例中，捕获结构的外部图像的序列，并且包括惯性测量单元（IMU）测量，无线测量（包括全球导航卫星（GNSS）测量））和/或其他非无线传感器测量的对应测量集可以 同时获得。 可以确定UE在全局坐标中的闭环轨迹，并且可以基于从结构的外部图像的序列中选择的图像子集中的闭环轨迹和特征点来获得结构的3D结构包络。