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公开(公告)号：US20250008076A1
公开(公告)日：2025-01-02
申请号：US18344549
申请日：2023-06-29
Applicant: QUALCOMM Incorporated
Inventor： Vinod Kumar SAINI , Srujan Babu NANDIPATI , Pushkar GORUR SHESHAGIRI , Chiranjib CHOUDHURI , Ajit Deepak GUPTE
IPC: H04N13/327 , H04N13/366
Abstract: Systems and techniques are described herein for using head mounted display (HMD) hinge motion to calibrate the head mounted device. For example, an device (or component of the device) can obtain, via one or more sensors, sensor measurements during rotation of a display of the HMD between a first end of a range of motion of a hinge of the display about an axis and a second end of the range of motion of the hinge about the axis; determine parameters of the HMD based on the sensor measurements and the rotation of the display between the first end of the range of motion of the hinge and the second end of the range of motion of the hinge about the axis; and determine pose information for the HMD based on the determined parameters.
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2.发明公开公开(公告)号：US20230314629A1
公开(公告)日：2023-10-05
申请号：US18331026
申请日：2023-06-07
Applicant: QUALCOMM Incorporated
Inventor： Vinod Kumar SAINI , Abdelmonaem LAKHZOURI , Bo ZHENG , William MORRISON
CPC classification number: G01S19/47 , G01S19/393 , G01S19/428 , G01S19/52
Abstract: A mobile device in a moving vehicle initializes a Global Navigation Satellite System (GNSS)-Inertial Navigation System (INS) system while the vehicle is in-motion with the orientation of the mobile device with respect to a global reference frame. The mobile device uses gyroscope measurements made while the vehicle is turning to determine a gravity vector. The gravity vector and accelerometer measurements may be used to determine a forward vector for the mobile device. A north vector is determined using the GNSS measurements. After the GNSS-INS system is calibrated, the mobile device may be positioned with respect to the vehicle. The orientation of the mobile device, prior to repositioning, may be compared to a current orientation, determined while the vehicle is in motion, in order to determine whether the GNSS-INS system should be re-initialized.
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Patent Agency Ranking
公开(公告)号：US20220011447A1
公开(公告)日：2022-01-13
申请号：US16927337
申请日：2020-07-13
Applicant: QUALCOMM Incorporated
Inventor： Vinod Kumar SAINI , Abdelmonaem LAKHZOURI , Bo ZHENG , William MORRISON
Abstract: A mobile device in a moving vehicle initializes a Global Navigation Satellite System (GNSS)-Inertial Navigation System (INS) system while the vehicle is in-motion with the orientation of the mobile device with respect to a global reference frame. The mobile device uses gyroscope measurements made while the vehicle is turning to determine a gravity vector. The gravity vector and accelerometer measurements may be used to determine a forward vector for the mobile device. A north vector is determined using the GNSS measurements. After the GNSS-INS system is calibrated, the mobile device may be positioned with respect to the vehicle. The orientation of the mobile device, prior to repositioning, may be compared to a current orientation, determined while the vehicle is in motion, in order to determine whether the GNSS-INS system should be re-initialized.
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公开(公告)号：US20240281996A1
公开(公告)日：2024-08-22
申请号：US18110803
申请日：2023-02-16
Applicant: QUALCOMM Incorporated
Inventor： Srujan Babu NANDIPATI , Chiranjib CHOUDHURI , Pushkar GORUR SHESHAGIRI , Vinod Kumar SAINI , Ajit Deepak GUPTE
CPC classification number: G06T7/73 , G06T7/246 , H04N23/6812 , G06T2207/10028 , G06T2207/30244 , H04N23/682
Abstract: Imaging systems and techniques are described. A system receives an image of an environment captured using an image sensor according to an image capture setting, and receives motion data captured using a motion sensor. The system determines a weight associated with at least one of a plurality of features of the environment in the image based on an estimated motion blur level for the at least one of the features of the environment in the image. The estimated motion blur level is based on the motion data and the image capture setting. The system tracks the features of the environment across a plurality of images (that includes the received image) according to respective weights (that include the determined weight) for the features of the environment across the plurality of images. The system can use the tracked features for mapping the environment and/or determining the pose of the system.
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公开(公告)号：US20240096049A1
公开(公告)日：2024-03-21
申请号：US17933334
申请日：2022-09-19
Applicant: QUALCOMM Incorporated
Inventor： Vinod Kumar SAINI , Pushkar GORUR SHESHAGIRI , Srujan Babu NANDIPATI , Chiranjib CHOUDHURI , Ajit Deepak GUPTE
CPC classification number: G06V10/60 , G06T7/11 , G06T7/20 , G06T7/70 , G06T17/05 , G06V10/25 , G06V10/44 , G06V20/50 , G06T2207/10028 , G06T2207/10144 , G06V2201/07
Abstract: Disclosed are systems, apparatuses, processes, and computer-readable media to capture images with subjects at different depths. A method of processing image data includes obtaining, at an imaging device, a first image of an environment from an image sensor of the imaging device; determining a region of interest of the first image based on features depicted in the first image, wherein the features are associated with the environment; determining a representative luma value associated with the first image based on image data in the region of interest of the first image; determining one or more exposure control parameters based on the representative luma value; and obtaining, at the imaging device, a second image captured based on the one or more exposure control parameters.
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公开(公告)号：US20220326015A1
公开(公告)日：2022-10-13
申请号：US17852179
申请日：2022-06-28
Applicant: QUALCOMM Incorporated
Inventor： Vinod Kumar SAINI , Abdelmonaem LAKHZOURI , Bo ZHENG , William MORRISON , Vivek SANKARAVADIVEL
Abstract: Aspects of the disclosure relate to initializing an inertial navigation system (INS) of a mobile device. Accelerometer bias of a plurality of accelerometers of the mobile device, and gyroscope bias of a plurality of gyroscopes of the mobile device, are determined. A first spatial relationship between a first frame of reference of the mobile device and a second frame of reference of a vehicle transporting the mobile device is determined. A second spatial relationship between the first frame of reference and a third frame of reference of a surface beneath the vehicle is determined. Each of the frames of reference are determined based on output of at least two of the GNSS receiver, the plurality of accelerometers, or the plurality of gyroscopes. The INS is provided with the accelerometer bias, the gyroscope bias, the first spatial relationship, and the second spatial relationship to initialize the INS.
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公开(公告)号：US20210207961A1
公开(公告)日：2021-07-08
申请号：US16735356
申请日：2020-01-06
Applicant: QUALCOMM Incorporated
Inventor： Vinod Kumar SAINI , Abdelmonaem LAKHZOURI , Bo ZHENG , William MORRISON , Vivek SANKARAVADIVEL
Abstract: Aspects of the disclosure relate to initializing an inertial navigation system (INS) of a mobile device. Accelerometer bias of a plurality of accelerometers of the mobile device, and gyroscope bias of a plurality of gyroscopes of the mobile device, are determined. A first spatial relationship between a first frame of reference of the mobile device and a second frame of reference of a vehicle transporting the mobile device is determined. A second spatial relationship between the first frame of reference and a third frame of reference of a surface beneath the vehicle is determined. Each of the frames of reference are determined based on output of at least two of the GNSS receiver, the plurality of accelerometers, or the plurality of gyroscopes. The INS is provided with the accelerometer bias, the gyroscope bias, the first spatial relationship, and the second spatial relationship to initialize the INS.
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