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    A METHOD FOR ALIGNING A MOBILE DEVICE SURFACE WITH THE COORDINATE SYSTEM OF A SENSOR
    31.
    发明公开
    A METHOD FOR ALIGNING A MOBILE DEVICE SURFACE WITH THE COORDINATE SYSTEM OF A SENSOR 有权
    方法把表面的移动设备通过坐标传感器

    公开(公告)号：EP2914966A1

    公开(公告)日：2015-09-09

    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.

    Abstract translation: 在装置中的加速度计的移动是通过取加速度矢量的多个测量当移动设备是在不同的方向保持静止相对于法线的平面校准。 的圆计算那样配合在加速度坐标系统的测量的加速度矢量的respectivement提示。圆和所测量的加速度矢量的长度的半径来计算旋转角度用于对准的加速度计坐标系与所述移动设备的表面。 在移动设备A陀螺仪是通过取的旋转轴线的多个测量当移动设备被以不同的速率旋转了相对于旋转轴线校准。 一条线的计算没有适合的测量。 线之间，并在陀螺仪坐标系的轴线的角度被用于对准陀螺仪坐标系与所述移动设备的表面。

    USING A PLURALITY OF SENSORS FOR MAPPING AND LOCALIZATION
    33.
    发明授权
    USING A PLURALITY OF SENSORS FOR MAPPING AND LOCALIZATION 有权
    使用多个传感器进行绘图和本地化

    公开(公告)号：EP2915137B1

    公开(公告)日：2017-10-18

    申请号：EP13776619.2

    申请日：2013-09-24

    Applicant: Qualcomm Incorporated

    Inventor： RAMACHANDRAN, Mahesh ,  SWAMINATHAN, Ashwin

    IPC: G06T7/55

    CPC classification number: G09G5/377 ,  G06T7/55 ,  G06T2200/04 ,  G06T2200/08 ,  G06T2207/10016 ,  G06T2207/30244

    Abstract: Systems and methods for performing localization and mapping with a mobile device are disclosed. In one embodiment, a method for performing localization and mapping with a mobile device includes identifying geometric constraints associated with a current area at which the mobile device is located, obtaining at least one image of the current area captured by at least a first camera of the mobile device, obtaining data associated with the current area via at least one of a second camera of the mobile device or a sensor of the mobile device, and performing localization and mapping for the current area by applying the geometric constraints and the data associated with the current area to the at least one image.

    DISPLAY OF SEPARATE COMPUTER VISION BASED POSE AND INERTIAL SENSOR BASED POSE
    35.
    发明公开
    DISPLAY OF SEPARATE COMPUTER VISION BASED POSE AND INERTIAL SENSOR BASED POSE 审中-公开
    ANZEIGE VON分离式计算机电子计算机HALTUNG SOWIE AUF INERTIALSENSORBASIERTER HALTUNG

    公开(公告)号：EP2936060A1

    公开(公告)日：2015-10-28

    申请号：EP13811098.6

    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: 移动设备使用由相机捕获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势的单独图形。 例如，可视化应用可以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，并且提示用户沿着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使用基于视觉的姿势和基于传感器的姿势来显示分离的图形的摄影应用。

    ADAPTIVE SWITCHING BETWEEN A VISION AIDED INTERTIAL CAMERA POSE ESTIMATION AND A VISION BASED ONLY CAMERA POSE ESTIMATION
    36.
    发明公开
    ADAPTIVE SWITCHING BETWEEN A VISION AIDED INTERTIAL CAMERA POSE ESTIMATION AND A VISION BASED ONLY CAMERA POSE ESTIMATION 审中-公开
    之间的观看自适应切换辅助惰性摄像机位置估计与有限的看法，基于摄像头的位置估计

    公开(公告)号：EP2862146A1

    公开(公告)日：2015-04-22

    申请号：EP13730774.0

    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: 一种移动设备跟踪摄像机和辅助惯性导航系统（VINS）使用一个视觉目标之间的相对姿态，确实包括来自惯性传感器测量作出贡献，并从基于视觉的测量作出贡献。 当移动设备检测到目标的移动，从所述惯性传感器测量的贡献来跟踪相机和目标之间的相对姿势被减少或消除。 目标的运动可以通过从拍摄的图像和基于惯性测量仅测量如果存在差异指示做的目标已经移动比较的眼光来确定矿进行检测。 另外或替代地，目标的运动可以使用从所捕获的图像中提取的特征向量的预测来检测。

    ALWAYS-ON CAMERA SAMPLING STRATEGIES
    37.
    发明公开
    ALWAYS-ON CAMERA SAMPLING STRATEGIES 审中-公开

    公开(公告)号：EP4090008A1

    公开(公告)日：2022-11-16

    申请号：EP22169564.6

    申请日：2014-03-04

    Applicant: Qualcomm Incorporated

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

    IPC: H04N5/232

    Abstract: Embodiments of the present invention are directed toward providing intelligent sampling strategies that make efficient use of an always-on camera. To do so, embodiments can utilize sensor information to determine contextual information regarding the mobile device and/or a user of the mobile device. A sampling rate of the always-on camera can then be modulated based on the contextual information.

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