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    POWER EFFICIENT USE OF A DEPTH SENSOR ON A MOBILE DEVICE
    1.
    发明申请
    POWER EFFICIENT USE OF A DEPTH SENSOR ON A MOBILE DEVICE 审中-公开
    深度传感器对移动设备的有效利用

    公开(公告)号：WO2015077778A1

    公开(公告)日：2015-05-28

    申请号：PCT/US2014/067432

    申请日：2014-11-25

    Applicant: QUALCOMM INCORPORATED

    Inventor： RAMACHANDRAN, Mahesh ,  SADASIVAM, Shankar ,  SWAMINATHAN, Ashwin

    IPC: H04N5/232 ,  G06F3/01 ,  G06T7/00 ,  H04N13/02

    CPC classification number: G06K9/00624 ,  G06F3/012 ,  G06T7/277 ,  G06T2200/04 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/20076 ,  H04N5/23248 ,  H04N13/25 ,  H04N13/271

    Abstract: Systems, apparatus and methods in a mobile device to enable and disable a depth sensor for tracking pose of the mobile device are presented. A mobile device relaying on a camera without a depth sensor may provide inadequate pose estimates, for example, in low light situations. A mobile device with a depth sensor uses substantial power when the depth sensor is enabled. Embodiments described herein enable a depth sensor only when images are expected to be inadequate, for example, accelerating or moving too fast, when inertial sensor measurements are too noisy, light levels are too low or high, an image is too blurry, or a rate of images is too slow. By only using a depth sensor when images are expected to be inadequate, battery power in the mobile device may be conserved and pose estimations may still be maintained.

    Abstract translation: 提出了移动设备中的启用和禁用用于跟踪移动设备姿态的深度传感器的系统，设备和方法。 在没有深度传感器的相机上中继的移动设备可以提供不足的姿势估计，例如在低光情况下。 当深度传感器启用时，具有深度传感器的移动设备使用大量功率。 本文所描述的实施例仅在预期图像不足时才能使用深度传感器，例如，当惯性传感器测量太嘈杂时，加速或移动太快，光水平太低或过高，图像太模糊或速率 的图像太慢了。 通过在图像预期不足时仅使用深度传感器，移动设备中的电池电量可能被保存并且仍然可以维持姿态估计。

    UPDATING FILTER PARAMETERS OF A SYSTEM
    2.
    发明申请
    UPDATING FILTER PARAMETERS OF A SYSTEM 审中-公开
    更新系统的过滤器参数

    公开(公告)号：WO2015048474A1

    公开(公告)日：2015-04-02

    申请号：PCT/US2014/057759

    申请日：2014-09-26

    Applicant: QUALCOMM INCORPORATED

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

    IPC: G01C21/16 ,  G01S5/02

    CPC classification number: G06T7/208 ,  G01C21/165 ,  G01S5/0263 ,  G01S5/0294 ,  G01S19/39 ,  G06T7/246 ,  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值。 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。

    ROBOT CONTROL BASED ON VISION TRACKING OF A REMOTE MOBILE DEVICE HAVING A CAMERA
    3.
    发明申请
    ROBOT CONTROL BASED ON VISION TRACKING OF A REMOTE MOBILE DEVICE HAVING A CAMERA 审中-公开
    基于具有摄像机的远程移动设备的视觉跟踪的机器人控制

    公开(公告)号：WO2014039309A1

    公开(公告)日：2014-03-13

    申请号：PCT/US2013/056649

    申请日：2013-08-26

    Applicant: QUALCOMM INCORPORATED

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

    IPC: B25J9/16

    CPC classification number: B25J9/1697 ,  G05B2219/36488 ,  G05B2219/39449

    Abstract: 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.

    Abstract translation: 使用移动设备的基于视觉的跟踪来远程控制机器人。 例如，由移动设备（例如，视频流）捕获的图像被用于基于对于成像环境的基于视觉的跟踪移动设备姿态的跟踪。 确定移动设备的姿势，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的运动。 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。

    ESTIMATING THE GRAVITY VECTOR IN A WORLD COORDINATE SYSTEM USING AN ACCELEROMETER IN A MOBILE DEVICE
    6.
    发明申请
    ESTIMATING THE GRAVITY VECTOR IN A WORLD COORDINATE SYSTEM USING AN ACCELEROMETER IN A MOBILE DEVICE 审中-公开
    使用移动设备在移动设备中估算世界坐标系统中的重力矢量

    公开(公告)号：WO2014070399A1

    公开(公告)日：2014-05-08

    申请号：PCT/US2013/064172

    申请日：2013-10-09

    Applicant: QUALCOMM INCORPORATED

    Inventor： RAMANANDAN, Arvind ,  RAMACHANDRAN, Mahesh ,  BRUNNER, Christopher ,  CHARI, Murali Ramaswamy

    IPC: G06F1/16 ,  G06F3/0346 ,  G01P21/00

    CPC classification number: G01P13/02 ,  G01C21/10 ,  G01C25/005 ,  G06F1/1694 ,  G06F3/0346

    Abstract: An accelerometer located within a mobile device is used to estimate a gravity vector on a target plane in a world coordinate system. The accelerometer makes multiple measurements, each measurement being taken when the mobile device is held stationary on the target plane and a surface of the mobile device faces and is in contact with a planar portion of the target plane. An average of the measurements is calculated. A rotational transformation between an accelerometer coordinate system and a mobile devices coordinate system is retrieved from a memory in the mobile device, where the mobile devices coordinate system is aligned with the surface of the mobile device. The rotational transformation is applied to the averaged measurements to obtain an estimated gravity vector in a world coordinate system defined by the target plane.

    Abstract translation: 位于移动设备内的加速度计用于估计世界坐标系中目标平面上的重力矢量。 加速度计进行多次测量，当移动设备在目标平面上保持静止并且移动设备的表面面对并且与目标平面的平面部分接触时，进行每次测量。 计算平均值。 从移动设备中的存储器检索加速度计坐标系和移动设备坐标系之间的旋转变换，其中移动设备坐标系与移动设备的表面对齐。 将旋转变换应用于平均测量值，以获得由目标平面定义的世界坐标系中的估计重力矢量。

    ADAPTIVE SWITCHING BETWEEN A VISION AIDED INTERTIAL CAMERA POSE ESTIMATION AND A VISION BASED ONLY CAMERA POSE ESTIMATION
    7.
    发明申请
    ADAPTIVE SWITCHING BETWEEN A VISION AIDED INTERTIAL CAMERA POSE ESTIMATION AND A VISION BASED ONLY CAMERA POSE ESTIMATION 审中-公开
    视觉辅助摄像机位置估计与视觉之间的自适应切换仅基于摄像机位置估计

    公开(公告)号：WO2013188308A1

    公开(公告)日：2013-12-19

    申请号：PCT/US2013/045012

    申请日：2013-06-10

    Applicant: QUALCOMM INCORPORATED

    Inventor： RAMANANDAN, Arvind ,  BRUNNER, Christopher ,  RAMACHANDRAN, Mahesh ,  TYAGI, Abhishek ,  KNOBLAUCH, Daniel ,  CHARI, Murali Ramaswamy

    IPC: G06T7/00 ,  H04N5/232

    CPC classification number: G06T7/2053 ,  G01S3/786 ,  G06T7/254 ,  G06T2207/10016

    Abstract: 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.

    Abstract translation: 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。

    CONTEXT AWARE LOCALIZATION, MAPPING, AND TRACKING
    10.
    发明申请
    CONTEXT AWARE LOCALIZATION, MAPPING, AND TRACKING 审中-公开
    背景知识本地化，映射和跟踪

    公开(公告)号：WO2014150405A3

    公开(公告)日：2014-09-25

    申请号：PCT/US2014/023162

    申请日：2014-03-11

    Applicant: QUALCOMM INCORPORATED

    Inventor： RAMACHANDRAN, Mahesh ,  SWAMINATHAN, Ashwin ,  SADASIVAM, Shankar

    IPC: G06F17/00

    Abstract: Exemplary methods, apparatuses, and systems infer a context of a user or device. A computer vision parameter is configured according to the inferred context. Performing a computer vision task, in accordance with the configured computer vision parameter. The computer vision task may by at least one of: a visual mapping of an environment of the device, a visual localization of the device or an object within the environment of the device, or a visual tracking of the device within the environment of the device.

    Abstract translation: 示例性方法，设备和系统推断用户或设备的上下文。 根据推断的上下文配置计算机视觉参数。 按照配置的计算机视觉参数执行计算机视觉任务。 计算机视觉任务可以通过以下中的至少一个：设备的环境的视觉映射，设备或设备的环境内的对象的视觉定位，或设备的环境内的设备的视觉跟踪

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