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    GEOMETRIC MATCHING IN VISUAL NAVIGATION SYSTEMS
    11.
    发明申请
    GEOMETRIC MATCHING IN VISUAL NAVIGATION SYSTEMS 审中-公开
    视觉导航系统中的几何匹配

    公开(公告)号：WO2017213769A1

    公开(公告)日：2017-12-14

    申请号：PCT/US2017/030842

    申请日：2017-05-03

    Applicant: QUALCOMM INCORPORATED

    Inventor： DOS SANTOS MENDONCA, Paulo Ricardo ,  BRUNNER, Christopher ,  RAMANANDAN, Arvind ,  CHARI, Murali Ramaswamy ,  AHUJA, Dheeraj

    IPC: G01C21/16 ,  G06T7/30

    Abstract: A first map comprising local features and 3D locations of the local features is generated, the local features comprising visible features in a current image and a corresponding set of covisible features. A second map comprising prior features and 3D locations of the prior features may be determined, where each prior feature: was first imaged at a time prior to the first imaging of any of the local features, and lies within a threshold distance of at least one local feature. A first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map is determined by comparing the first and second maps, where each local feature in the first subset corresponds to a distinct prior feature in the second subset. A transformation mapping a subset of local features to a subset of prior features is determined.

    Abstract translation: 生成包括局部特征的局部特征和3D位置的第一映射，局部特征包括当前图像中的可见特征和对应的一组隐形特征。 可以确定包括在先特征的先验特征和3D位置的第二图，其中每个先前特征：在任何局部特征的第一成像之前的时间首次被成像，并且位于至少一个 本地功能。 通过比较第一和第二映射来确定第一子集，其包括第一映射中的先前成像的局部特征和第二映射中的先验特征的对应的第二子集，其中第一子集中的每个局部特征对应于 第二个子集。 确定将局部特征的子集映射到先前特征的子集的变换。

    UPDATING FILTER PARAMETERS OF A SYSTEM
    12.
    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
    13.
    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。

    NON-LINE-OF-SIGHT (NLoS) SATELLITE DETECTION AT A VEHICLE USING A CAMERA
    14.
    发明申请
    NON-LINE-OF-SIGHT (NLoS) SATELLITE DETECTION AT A VEHICLE USING A CAMERA 审中-公开

    公开(公告)号：WO2018212859A1

    公开(公告)日：2018-11-22

    申请号：PCT/US2018/027322

    申请日：2018-04-12

    Applicant: QUALCOMM INCORPORATED

    Inventor： NIESEN, Urs ,  RAMANANDAN, Arvind

    IPC: G01S19/28 ,  G01S19/22

    Abstract: Techniques provided herein are directed toward using a camera, such as a forward- facing camera, to identify non-line-of-sight (NLoS) satellites in a satellite positioning system. In particular, successive images captured by the camera of the vehicle can be used to create a three-dimensional (3-D) skyline model of one or more objects that may be obstructing the view of a satellite (from the perspective of the vehicle). Accordingly, this allows for the determination of NLoS satellites and exclusion of data from the NLoS satellites in the determination of the location of the vehicle. Techniques may further include providing the determined location of the vehicle.

    DISPLAY OF SEPARATE COMPUTER VISION BASED POSE AND INERTIAL SENSOR BASED POSE
    15.
    发明申请
    DISPLAY OF SEPARATE COMPUTER VISION BASED POSE AND INERTIAL SENSOR BASED POSE 审中-公开
    基于独立计算机视觉的显示和基于传统的基于传感器的POSE

    公开(公告)号：WO2014099410A1

    公开(公告)日：2014-06-26

    申请号：PCT/US2013/073511

    申请日：2013-12-06

    Applicant: QUALCOMM INCORPORATED

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

    IPC: G01C21/16 ,  G01C25/00 ,  G06T7/00

    CPC classification number: G06F3/017 ,  G01C21/165 ,  G01C25/005 ,  G06F3/0304 ,  G06F3/0346 ,  G06F3/0487 ,  G06T7/73 ,  G06T7/80 ,  G06T2207/30208

    Abstract: A mobile device determines a vision based pose using images captured by a camera and determines a sensor based pose using data from inertial sensors, such as accelerometers and gyroscopes. The vision based pose and sensor based pose are used separately in a visualization application, which displays separate graphics for the different poses. For example, the visualization application may be used to calibrate the inertial sensors, where the visualization application displays a graphic based on the vision based pose and a graphic based on the sensor based pose and prompts a user to move the mobile device in a specific direction with the displayed graphics to accelerate convergence of the calibration of the inertial sensors. Alternatively, the visualization application may be a motion based game or a photography application that displays separate graphics using the vision based pose and the sensor based pose.

    Abstract translation: 移动设备使用由摄像机拍摄的图像来确定基于视觉的姿势，并且使用来自诸如加速度计和陀螺仪的惯性传感器的数据来确定基于传感器的姿态。 基于视觉的姿势和基于传感器的姿势在可视化应用程序中单独使用，可视化应用程序显示不同姿态的单独图形。 例如，可视化应用程序可用于校准惯性传感器，其中可视化应用基于基于视觉的姿态显示图形和基于基于传感器的姿态的图形，并且提示用户将特定方向移动移动设备 具有显示的图形以加速惯性传感器校准的收敛。 或者，可视化应用可以是基于运动的游戏或摄影应用，其使用基于视觉的姿势和基于传感器的姿势来显示单独的图形。

    ADAPTIVE SCALE AND/OR GRAVITY ESTIMATION
    16.
    发明申请
    ADAPTIVE SCALE AND/OR GRAVITY ESTIMATION 审中-公开
    自适应尺度和/或重要度估计

    公开(公告)号：WO2014070391A1

    公开(公告)日：2014-05-08

    申请号：PCT/US2013/063900

    申请日：2013-10-08

    Applicant: QUALCOMM INCORPORATED

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

    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。 基于图像的姿势是从两个姿态计算的，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。

    ADAPTIVE ESTIMATION OF FRAME TIME STAMP LATENCY
    17.
    发明申请
    ADAPTIVE ESTIMATION OF FRAME TIME STAMP LATENCY 审中-公开
    自适应估计帧时间戳延迟

    公开(公告)号：WO2013188310A1

    公开(公告)日：2013-12-19

    申请号：PCT/US2013/045015

    申请日：2013-06-10

    Applicant: QUALCOMM INCORPORATED

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

    IPC: H04N5/232

    CPC classification number: G01C21/16 ,  H04N5/23254 ,  H04N5/23258 ,  H04N17/002

    Abstract: A mobile device compensates for lack of a time stamp when an image frame is captured by estimating the frame time stamp latency. The mobile device captures images frames and time stamps each frame after the frame time stamp latency. A vision based rotation is determined from a pair of frames. A plurality of inertia based rotations is measured using time stamped signals from an inertial sensor in the mobile device based on different possible delays between time stamping each frame and time stamps on the signals from the inertial sensors. The determined rotations may be about the camera's optical axis. The vision based rotation is compared to the plurality of inertia based rotations to determine an estimated frame time stamp latency, which is used to correct the frame time stamp latency when time stamping subsequently captured frames. A median latency determined using different frame pairs may be used.

    Abstract translation: 当通过估计帧时间戳延迟来捕获图像帧时，移动设备补偿缺少时间戳。 移动设备在帧时间戳延迟之后每帧捕获图像帧和时间戳。 基于视觉的旋转由一对帧确定。 基于来自移动设备中的惯性传感器的时间戳信号，基于每个帧的时间戳和来自惯性传感器的信号的时间戳之间的不同可能的延迟来测量多个基于惯量的旋转。 确定的旋转可以是关于相机的光轴。 将基于视觉的旋转与多个基于惯性的旋转进行比较，以确定估计的帧时间戳延迟，其用于在随后拍摄的帧时间戳时校正帧时间戳等待时间。 可以使用使用不同帧对确定的中值等待时间。

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