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    Mobile Device and Mobile Device Management System
    6.
    发明申请
    Mobile Device and Mobile Device Management System 审中-公开

    公开(公告)号：US20190233027A1

    公开(公告)日：2019-08-01

    申请号：US16339597

    申请日：2017-09-14

    申请人： Hitachi, Ltd.

    发明人： Akihiro YAMAMOTO ,  Ryosuke NAKAMURA ,  Ryoko ICHINOSE

    IPC分类号： B62D37/04 ,  B60W30/02 ,  G01C21/34

    CPC分类号： B62D37/04 ,  B60W30/02 ,  B60W2550/40 ,  B62D61/12 ,  G01C21/34 ,  G05D1/02

    摘要： Providing a movement control means for detecting a collision between a driving wheel and a step and a catch of a driven wheel by the step and temporarily changing a gravity center control region of a mobile device and moving the mobile device to pass over the step, and a mobile device including the same in order to prevent immovability under an environment having a step or an irregularity. Thus, a mobile device is configured to include: a lower body; an upper body provided in an upper portion of the lower body; a gravity center position adjustment means for changing an angle or a position of the upper body with respect to the lower body; and a driving wheel and a driven wheel provided in a lower portion of the lower body, and during movement in a direction in which the driving wheel is on a front side and the driven wheel is on a rear side, the gravity center position adjustment means inclines or moves the upper body to the front side when the driven wheel passes over the step, and moves the upper body toward an original angle or position after the driven wheel passes over the step.

    BINOCULAR VISION LOCALIZATION METHOD, DEVICE AND SYSTEM
    8.
    发明申请
    BINOCULAR VISION LOCALIZATION METHOD, DEVICE AND SYSTEM 审中-公开

    公开(公告)号：US20190204084A1

    公开(公告)日：2019-07-04

    申请号：US16302024

    申请日：2018-07-18

    申请人： GOERTEK INC.

    发明人： Haoran SONG ,  Tianrong DAI ,  Yuchuan REN ,  Shunming LI ,  Jinxi CAO

    IPC分类号： G01C21/18 ,  G01C21/20 ,  G01C21/00 ,  G05D1/02

    CPC分类号： G01C21/18 ,  G01C21/005 ,  G01C21/165 ,  G01C21/20 ,  G05D1/02

    摘要： A binocular vision localization method, device and system are provided. The method includes calculating first pose change information according to two frames of images collected by a binocular camera unit at two consecutive moments and calculating second pose change information according to inertia parameters collected by an inertial measurement unit between the two consecutive moments. Matched feature points in the two frames are extracted from the two frames respectively. A reprojection error of each feature point is calculated. The calculations are taken as nodes or edges of a general graph optimization algorithm to acquire optimized third pose change information for localization. The system includes a binocular vision localization device, and a binocular camera unit and an inertial measurement unit respectively connected thereto, a left-eye camera and a right-eye camera are symmetrically located on two sides of the inertial measurement unit. This can improve accuracy and real-time performance for pose estimation.