公开(公告)号：EP3566021A1

公开(公告)日：2019-11-13

申请号：EP17794855.1

申请日：2017-10-23

Applicant: Qualcomm Incorporated

Inventor： RAMANANDAN, Arvind ,  CHARI, Murali ,  JOSHI, Avdhut

IPC: G01C21/16 ,  G01S19/49

公开(公告)号：EP3049821B1

公开(公告)日：2019-01-02

申请号：EP14851454.0

申请日：2014-09-26

Applicant: Qualcomm Incorporated

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

IPC: G01S5/02 ,  G01C21/20 ,  G06T7/00

公开(公告)号：EP2914966B1

公开(公告)日：2016-09-21

申请号：EP13789098.4

申请日：2013-10-22

Applicant: Qualcomm Incorporated

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

IPC: G01P21/00 ,  G01C25/00

CPC classification number: G01P21/00 ,  G01C25/00 ,  G01C25/005

Abstract: An accelerometer in a mobile device is calibrated by taking multiple measurements of acceleration vectors when the mobile device is held stationary at different orientations with respect to a plane normal. A circle is calculated that fits respective tips of measured acceleration vectors in the accelerometer coordinate system. The radius of the circle and the lengths of the measured acceleration vectors are used to calculate a rotation angle for aligning the accelerometer coordinate system with the mobile device surface. A gyroscope in the mobile device is calibrated by taking multiple measurements of a rotation axis when the mobile device is rotated at different rates with respect to the rotation axis. A line is calculated that fits the measurements. The angle between the line and an axis of the gyroscope coordinate system is used to align the gyroscope coordinate system with the mobile device surface.

公开(公告)号：EP3049820A1

公开(公告)日：2016-08-03

申请号：EP14783744.7

申请日：2014-09-26

Applicant: Qualcomm Incorporated

Inventor： MOEGLEIN, Mark Leo ,  BRUNNER, Christopher ,  CHAO, Hui ,  CHARI, Murali Ramaswamy ,  RAMANANDAN, Arvind ,  RAMACHANDRAN, Mahesh ,  TYAGI, Abhishek

IPC: G01S5/02 ,  G01S5/16 ,  G01C21/20 ,  G06T7/00

Abstract: Embodiments disclosed pertain to the use of user equipment (UE) for the generation of a 3D exterior envelope of a structure based on captured images and a measurement set associated with each captured image. In some embodiments, a sequence of exterior images of a structure is captured and a corresponding measurement set comprising Inertial Measurement Unit (IMU) measurements, wireless measurements (including Global Navigation Satellite (GNSS) measurements) and/or other non-wireless sensor measurements may be obtained concurrently. A closed-loop trajectory of the UE in global coordinates may be determined and a 3D structural envelope of the structure may be obtained based on the closed loop trajectory and feature points in a subset of images selected from the sequence of exterior images of the structure.

Abstract translation: 所公开的实施例涉及使用用户设备（UE）来基于所捕获的图像和与每个捕捉的图像相关联的测量集合来生成结构的3D外部包络。 在一些实施例中，捕获结构的外部图像的序列，并且包括惯性测量单元（IMU）测量，无线测量（包括全球导航卫星（GNSS）测量））和/或其它非无线传感器测量的对应测量集可以 同时获得。 可以确定UE在全局坐标中的闭环轨迹，并且可以基于从结构的外部图像序列中选择的图像子集中的闭环轨迹和特征点来获得结构的3D结构包络。

公开(公告)号：EP2915139A1

公开(公告)日：2015-09-09

申请号：EP13784056.7

申请日：2013-10-08

Applicant: Qualcomm Incorporated

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

IPC: G06T7/00

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，设备和方法。 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，通过对重力的估计进行调整。

公开(公告)号：EP2915015A1

公开(公告)日：2015-09-09

申请号：EP13780479.5

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.

公开(公告)号：EP2892694A1

公开(公告)日：2015-07-15

申请号：EP13759628.4

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.

公开(公告)号：EP2915139B1

公开(公告)日：2020-04-22

申请号：EP13784056.7

申请日：2013-10-08

Applicant: Qualcomm Incorporated

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

IPC: G06T7/70 ,  G06T7/73

公开(公告)号：EP3625590A1

公开(公告)日：2020-03-25

申请号：EP18721612.2

申请日：2018-04-12

Applicant: Qualcomm Incorporated

Inventor： NIESEN, Urs ,  RAMANANDAN, Arvind

IPC: G01S19/28 ,  G01S19/22

公开(公告)号：EP3049821A2

公开(公告)日：2016-08-03

申请号：EP14851454.0

申请日：2014-09-26

Applicant: Qualcomm Incorporated

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

IPC: G01S5/02 ,  G01C21/20 ,  G06T7/00

CPC classification number: G06T7/248 ,  G01C21/00 ,  G01C21/165 ,  G01C21/20 ,  G01C21/206 ,  G01C25/005 ,  G01S5/0263 ,  G01S5/0294 ,  G01S5/16 ,  G01S5/163 ,  G01S19/13 ,  G01S19/14 ,  G06K9/00671 ,  G06T7/579 ,  G06T7/60 ,  G06T7/80 ,  G06T2207/10004 ,  G06T2207/10016 ,  G06T2207/10032 ,  G06T2207/30212 ,  G06T2207/30241 ,  G06T2207/30244 ,  G06T2207/30252 ,  H04M2250/12 ,  H04M2250/52 ,  H04W4/029 ,  H04W4/043 ,  H04W4/33

Abstract: Embodiments disclosed pertain to the use of user equipment (UE) for the generation of a 3D exterior envelope of a structure based on captured images and a measurement set associated with each captured image. In some embodiments, a sequence of exterior images of a structure is captured and a corresponding measurement set comprising Inertial Measurement Unit (IMU) measurements, wireless measurements (including Global Navigation Satellite (GNSS) measurements) and/or other non-wireless sensor measurements may be obtained concurrently. A closed-loop trajectory of the UE in global coordinates may be determined and a 3D structural envelope of the structure may be obtained based on the closed loop trajectory and feature points in a subset of images selected from the sequence of exterior images of the structure.

Abstract translation: 所公开的实施例涉及基于捕获的图像和与每个捕获的图像相关联的测量集合来使用用户设备（UE）来产生结构的3D外部包络。 在一些实施例中，捕获结构的外部图像的序列，并且包括惯性测量单元（IMU）测量，无线测量（包括全球导航卫星（GNSS）测量）和/或其他非无线传感器测量的对应测量集可以 同时获得。 可以确定UE在全局坐标中的闭环轨迹，并且可以基于从结构的外部图像的序列中选择的图像的子集中的闭环轨迹和特征点来获得结构的3D结构包络。