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公开(公告)号：WO2012158441A1
公开(公告)日：2012-11-22
申请号：PCT/US2012/037235
申请日：2012-05-10
Applicant: GOOGLE INC. , THRUN, Sebastian , LOOKINGBILL, Andrew , KADOUS, Mohammed, Waleed
Inventor： THRUN, Sebastian , LOOKINGBILL, Andrew , KADOUS, Mohammed, Waleed
CPC classification number: G01C21/206 , G01C21/16 , G01S19/49
Abstract: Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More specifically, aspects relate to using a particle filter in conjunction with a gyroscope and/or accelerometer (166) to identify a current location of a client device (171) with respect to a map (300). In one example, the map may be based upon a map (300) including a series of walls 310-17 representing locations where a user may not walk within a building. In another example, the map may be based upon a series of rails (1340), (1350), (1360), (1370), (1380) representing locations where a user may walk within a building.
Abstract translation: 本公开的方面通常涉及室内定位，例如，其中GPS或其他定位信号不可用的地方。 更具体地，方面涉及使用与陀螺仪和/或加速度计（166）结合的粒子滤波器来识别相对于地图（300）的客户端设备（171）的当前位置。 在一个示例中，地图可以基于包括表示用户不能在建筑物内行进的位置的一系列壁310-17的地图（300）。 在另一示例中，地图可以基于表示用户可以在建筑物内行走的位置的一系列轨道（1340），（1350），（1360），（1370），（1380）。
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公开(公告)号：WO2015057342A1
公开(公告)日：2015-04-23
申请号：PCT/US2014/056018
申请日：2014-09-17
Applicant: GOOGLE INC.
Inventor： LOOKINGBILL, Andrew , SEITZ, Steven, Maxwell
CPC classification number: G06T7/593 , G06K9/00208 , G06T7/33 , G06T7/579 , G06T15/10 , G06T19/00 , G06T2200/04 , G06T2200/08 , G06T2207/10016 , G06T2207/20221 , G06T2215/16
Abstract: An exemplary method 1000 includes prompting a user to capture video data at a location 1010. The location is associated with navigation directions. Information representing visual orientation and positioning information associated with the captured video data is received by one or more computing devices 1020, and a stored data model representing a 3D geometry depicting objects associated with the location is accessed 1030. Between corresponding images from the captured video data and projections of the 3D geometry, one or more candidate change regions are detected 1040. Each candidate change region indicates an area of visual difference between the captured video data and the projections. When it is detected that a count of the candidate change regions is below a threshold 1045, the model data is updated with at least part of the captured video data based on the visual orientation and positioning information associated with the captured video data 1050.
Abstract translation: 示例性方法1000包括提示用户在位置1010捕获视频数据。该位置与导航方向相关联。 表示与所捕获的视频数据相关联的视觉定向和定位信息的信息由一个或多个计算设备1020接收，并且存储表示描绘与该位置相关联的对象的3D几何的存储数据模型。在来自所捕获的视频数据的相应图像之间 并且3D 3D的投影，检测到一个或多个候选变化区域1040.每个候选变化区域表示所捕获的视频数据和投影之间的视差的区域。 当检测到候选变化区域的计数低于阈值1045时，基于与捕获的视频数据1050相关联的视觉取向和定位信息，利用所捕获的视频数据的至少一部分更新模型数据。
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公开(公告)号：WO2013078125A1
公开(公告)日：2013-05-30
申请号：PCT/US2012/065819
申请日：2012-11-19
Applicant: GOOGLE INC.
CPC classification number: G01C21/206 , G01C21/20 , G01C21/367 , G01S5/0252 , G01S5/0263 , G01S19/48 , H04W64/00
Abstract: Aspects of the disclosure relate generally to localizing mobile devices. In one example, a first location method associated with a first accuracy value may be used to estimate a location 62, 70, 70a, 90 of the mobile device 10. A confidence circle indicative 64 of a level of confidence in the estimation of the location 62, 70, 70a, 90 is calculated. The confidence circle 64, 72, 72a, 82, 92 may be displayed on a mobile device 10. When other location methods become available, the size of the displayed confidence circle 72a may be expanded based on information from an accelerometer of the client device 10 or the accuracy of the other available location methods. This may be especially useful when the mobile device 10is transitioning between areas which are associated with different location methods that may be more or less accurate.
Abstract translation: 本公开的方面通常涉及本地化移动设备。 在一个示例中，与第一精度值相关联的第一定位方法可以用于估计移动设备10的位置62,70,70a，90。指示位置估计中的置信水平的置信区间 62,70,70a，90。 置信圈64,72,72a，82,92可以显示在移动设备10上。当其他位置方法变得可用时，可以基于来自客户端设备10的加速度计的信息来扩展显示的置信圈72a的尺寸 或其他可用位置方法的准确性。 当移动设备10在与可能或多或少准确的不同位置方法相关联的区域之间转换时，这可能是特别有用的。
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公开(公告)号：WO2014123707A1
公开(公告)日：2014-08-14
申请号：PCT/US2014/013135
申请日：2014-01-27
Applicant: GOOGLE INC.
Inventor： MIROV, Russell Norman , LOOKINGBILL, Andrew
IPC: G01C21/08
CPC classification number: G01C21/08 , G01C21/206 , G01S5/0252
Abstract: A system and method are provided that allow for localization of a mobile device using detected magnetic signals and magnetic survey data. The magnetic signals may be produced by one or more magnetic signal sources, which are located at particular positions. The mobile device may be localized without information regarding the positions of the magnetic signal sources.
Abstract translation: 提供了允许使用检测到的磁信号和磁测量数据来定位移动设备的系统和方法。 磁信号可以由位于特定位置的一个或多个磁信号源产生。 可以将移动设备定位成没有关于磁信号源的位置的信息。
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公开(公告)号：WO2012154926A2
公开(公告)日：2012-11-15
申请号：PCT/US2012/037259
申请日：2012-05-10
Applicant: GOOGLE INC. , KADOUS, Mohammed, Waleed , LOOKINGBILL, Andrew
Inventor： KADOUS, Mohammed, Waleed , LOOKINGBILL, Andrew
CPC classification number: G01S1/72 , G01C21/206 , G01C21/32 , G09B29/10 , G09B29/106 , H04W4/043
Abstract: Aspects of the disclosure relate to quality control of survey data used to generate and or supplement map information 144. A device 171 may be walked through an indoor space in order to collect survey data 142 ( accelerometer 168, gyroscope, wireless network identifiers, etc.). The survey data 142 is then transmitted to a server for further processing to identify the path 610, 710, 810, 815 (or the various locations) of the device 171 in the indoor space. The path 610, 710, 810, 815 may be determined by referring to a map of the indoor location and a localization algorithm, for example, a particle filter or least squares optimizer. The path may be compared to other survey data and paths 910, 915 from the same indoor space as well as the map in order to provide an estimate of the quality of the localization produced for the survey data 142. Low quality survey data may be flagged for further review or used to make changes to the map.
Abstract translation: 本公开的方面涉及用于生成和/或补充地图信息144的勘测数据的质量控制。设备171可以通过室内空间行走，以便收集测量数据142（加速度计168，陀螺仪，无线网络标识符等） ）。 然后将调查数据142发送到服务器进行进一步处理，以识别室内空间中设备171的路径610,710,810,815（或各种位置）。 路径610,710,810,815可以通过参考室内位置图和定位算法，例如粒子滤波器或最小二乘法优化器来确定。 该路径可以与来自相同室内空间以及地图的其他测量数据和路径910,915进行比较，以便提供对测量数据142产生的定位质量的估计。可以标记低质量测量数据 进一步审查或用于对地图进行更改。
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Patent Agency Ranking
公开(公告)号：EP2954289A1
公开(公告)日：2015-12-16
申请号：EP14703241.1
申请日：2014-01-27
Applicant: Google Inc.
Inventor： MIROV, Russell Norman , LOOKINGBILL, Andrew
IPC: G01C21/08
Abstract: A system and method are provided that allow for localization of a mobile device using detected magnetic signals and magnetic survey data. The magnetic signals may be produced by one or more magnetic signal sources, which are located at particular positions. The mobile device may be localized without information regarding the positions of the magnetic signal sources.
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公开(公告)号：EP2756721A1
公开(公告)日：2014-07-23
申请号：EP12851031.0
申请日：2012-11-19
Applicant: Google Inc.
CPC classification number: G01C21/206 , G01C21/20 , G01C21/367 , G01S5/0252 , G01S5/0263 , G01S19/48 , H04W64/00
Abstract: Aspects of the disclosure relate generally to localizing mobile devices. In one example, a first location method associated with a first accuracy value may be used to estimate a location 62, 70, 70a, 90 of the mobile device 10. A confidence circle indicative 64 of a level of confidence in the estimation of the location 62, 70, 70a, 90 is calculated. The confidence circle 64, 72, 72a, 82, 92 may be displayed on a mobile device 10. When other location methods become available, the size of the displayed confidence circle 72a may be expanded based on information from an accelerometer of the client device 10 or the accuracy of the other available location methods. This may be especially useful when the mobile device 10is transitioning between areas which are associated with different location methods that may be more or less accurate.
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8.发明公开3D MODEL UPDATES USING CROWDSOURCED VIDEO 审中-公开3D-MODELL-AKTUALISIERUNGEN DURCH VERWENDUNG VON CROWDSOURCE-VIDEOS
公开(公告)号：EP3058505A1
公开(公告)日：2016-08-24
申请号：EP14777243.8
申请日：2014-09-17
Applicant: Google Inc.
Inventor： LOOKINGBILL, Andrew , SEITZ, Steven Maxwell
CPC classification number: G06T7/593 , G06K9/00208 , G06T7/33 , G06T7/579 , G06T15/10 , G06T19/00 , G06T2200/04 , G06T2200/08 , G06T2207/10016 , G06T2207/20221 , G06T2215/16
Abstract: An exemplary method includes prompting a user to capture video data at a location. The location is associated with navigation directions for the user. Information representing visual orientation and positioning information associated with the captured video data is received by one or more computing devices, and a stored data model representing a 3D geometry depicting objects associated with the location is accessed. Between corresponding images from the captured video data and projections of the 3D geometry, one or more candidate change regions are detected. Each candidate change region indicates an area of visual difference between the captured video data and projections. When it is detected that a count of the one or more candidate change regions is below a threshold, the stored model data is updated with at least part of the captured video data based on the visual orientation and positioning information associated with the captured video data.
Abstract translation: 一种示例性方法包括提示用户在某个位置拍摄视频数据。 该位置与用户的导航方向相关联。 表示与捕获的视频数据相关联的视觉定位和定位信息的信息由一个或多个计算设备接收，并且存储表示描绘与位置相关联的对象的3D几何的存储的数据模型。 在所捕获的视频数据和3D几何的投影的相应图像之间，检测一个或多个候选变化区域。 每个候选变化区域表示所捕获的视频数据和投影之间的视差的区域。 当检测到一个或多个候选变化区域的计数低于阈值时，基于与捕获的视频数据相关联的视觉取向和定位信息，利用所捕获的视频数据的至少一部分来更新存储的模型数据。
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公开(公告)号：EP2695459B1
公开(公告)日：2016-04-13
申请号：EP12786667.1
申请日：2012-05-10
Applicant: Google Inc.
Inventor： THRUN, Sebastian , LOOKINGBILL, Andrew , KADOUS, Mohammed, Waleed
CPC classification number: G01C21/206 , G01C21/16 , G01S19/49
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公开(公告)号：EP2695459A1
公开(公告)日：2014-02-12
申请号：EP12786667.1
申请日：2012-05-10
Applicant: Google Inc.
Inventor： THRUN, Sebastian , LOOKINGBILL, Andrew , KADOUS, Mohammed, Waleed
CPC classification number: G01C21/206 , G01C21/16 , G01S19/49
Abstract: Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More specifically, aspects relate to using a particle filter in conjunction with a gyroscope and/or accelerometer (166) to identify a current location of a client device (171) with respect to a map (300). In one example, the map may be based upon a map (300) including a series of walls 310-17 representing locations where a user may not walk within a building. In another example, the map may be based upon a series of rails (1340), (1350), (1360), (1370), (1380) representing locations where a user may walk within a building.
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