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1.发明授权公开(公告)号：US11519995B1
公开(公告)日：2022-12-06
申请号：US17692098
申请日：2022-03-10
发明人： Sheng Yong , Rui Zhou , Xiaoyu Liu , Yulong Que
IPC分类号： G01S1/04
摘要： A range-finding method, a apparatus, a terminal system, and a computer-readable storage medium are provided. The range-finding method includes: transmitting a first check code from a transmitting terminal to a receiving terminal by using a first communication technology; transmitting a modulated signal from the transmitting terminal to the receiving terminal by using a second communication technology different from the first communication technology, where the modulated signal carries a second check code; acquiring a first moment at which the modulated signal is transmitted and a second moment at which the modulated signal is received; demodulating the second check code in the modulated signal; acquiring a range-finding confidence according to the first check code and the demodulated second check code; and acquiring a measured distance between the transmitting terminal and the receiving terminal according to the first moment, the second moment, a transmission speed of the modulated signal, and the range-finding confidence.
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公开(公告)号：US11468599B1
公开(公告)日：2022-10-11
申请号：US17553715
申请日：2021-12-16
发明人： Sheng Yong , Xiaoyu Liu , Rui Zhou
摘要： A monocular visual simultaneous localization and mapping (SLAM) data processing method. The SLAM data processing method comprises: obtaining rotation angular velocities and accelerations of a camera cyclically; obtaining a plurality of feature point pairs in two frames of images acquired by the camera, and obtaining pixel coordinate values of feature points in the feature point pairs, where each of the feature point pairs includes two feature points that correspond to a same feature of a same object and that are respectively in the two frames of images; obtaining to-be-selected rotation matrices and to-be-selected displacement matrices according to the pixel coordinate values; obtaining a reference rotation matrix of the camera according to the rotation angular velocities, and obtaining a reference displacement matrix of the camera according to the accelerations; and filtering the to-be-selected rotation matrices and the to-be-selected displacement matrices according to the reference rotation matrix and the reference displacement matrix.
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