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    MANAGING FEATURE DATA FOR ENVIRONMENT MAPPING ON AN ELECTRONIC DEVICE
    1.
    发明申请
    MANAGING FEATURE DATA FOR ENVIRONMENT MAPPING ON AN ELECTRONIC DEVICE 有权
    管理电子设备环境映射的特征数据

    公开(公告)号：US20170046594A1

    公开(公告)日：2017-02-16

    申请号：US14823283

    申请日：2015-08-11

    Applicant: Google Inc.

    Inventor： Esha Nerurkar ,  Joel Hesch ,  Simon Lynen

    IPC: G06K9/62

    CPC classification number: G06K9/6212 ,  G05D1/0268 ,  G06F3/011 ,  G06F17/30247 ,  G06F17/30265 ,  G06F17/3087 ,  G06K9/46 ,  G06K9/6267 ,  G06T7/246 ,  G06T7/521 ,  G06T7/593 ,  G06T7/70 ,  G06T7/73

    Abstract: An electronic device reduces localization data based on feature characteristics identified from the data. Based on the feature characteristics, a quality value can be assigned to each identified feature, indicating the likelihood that the data associated with the feature will be useful in mapping a local environment of the electronic device. The localization data is reduced by removing data associated with features have a low quality value, and the reduced localization data is used to map the local environment of the device by locating features identified from the reduced localization data in a frame of reference for the electronic device.

    Abstract translation: 电子设备基于从数据识别的特征特征来减少定位数据。 基于特征特征，可以向每个识别的特征分配质量值，指示与特征相关联的数据在映射电子设备的本地环境时将是有用的。 通过去除与特征相关联的数据具有低质量值来减少定位数据，并且减少的定位数据用于通过从电子设备的参考系中定位从缩小的定位数据识别的特征来映射设备的本地环境 。

    CROWD-SOURCED CREATION AND UPDATING OF AREA DESCRIPTION FILE FOR MOBILE DEVICE LOCALIZATION
    2.
    发明申请
    CROWD-SOURCED CREATION AND UPDATING OF AREA DESCRIPTION FILE FOR MOBILE DEVICE LOCALIZATION 有权

    公开(公告)号：US20160335497A1

    公开(公告)日：2016-11-17

    申请号：US14708877

    申请日：2015-05-11

    Applicant: Google Inc.

    Inventor： Brian Patrick Williams ,  Ryan Michael Hickman ,  Laurent Tu ,  Esha Nerurkar ,  Simon Lynen

    IPC: G06K9/00 ,  G06F17/30 ,  G06T7/00

    CPC classification number: G06K9/00671 ,  G01C21/206 ,  G06F17/30256 ,  G06T7/74 ,  G06T2207/10004 ,  G06T2207/10028

    Abstract: A computing system includes a network interface, a first datastore, a second datastore, and a merge module. The merge module is to receive a set of one or more area description files from a set of one or more first mobile devices. Each area description file represents a point cloud of spatial features detected by a corresponding first mobile device at an area. The computing system further includes a localization module and a query module. The localization generation module is to generate a localization area description file for the area from the set of one or more area description files and to store the localization area description file in the second datastore. The localization area description file represents a point cloud of spatial features for the area. The query module is to provide the localization area description file to a second mobile device via the network interface.

    Abstract translation: 计算系统包括网络接口，第一数据存储区，第二数据存储区和合并模块。 合并模块是从一个或多个第一移动设备的集合接收一组一个或多个区域描述文件。 每个区域描述文件表示在一个区域由相应的第一移动设备检测到的空间特征的点云。 计算系统还包括定位模块和查询模块。 本地化生成模块是从一个或多个区域描述文件的集合中生成针对该区域的定位区域描述文件，并将定位区域描述文件存储在第二数据存储区中。 定位区域描述文件表示该区域的空间特征的点云。 查询模块是通过网络接口向第二移动设备提供定位区描述文件。

    Map summarization and localization
    3.
    发明授权
    Map summarization and localization 有权

    公开(公告)号：US10339708B2

    公开(公告)日：2019-07-02

    申请号：US15659358

    申请日：2017-07-25

    Applicant: Google Inc.

    Inventor： Simon Lynen ,  Bernhard Zeisl

    IPC: G06T17/00 ,  G06T17/05 ,  G06T7/246 ,  G06T7/73 ,  G06K9/00 ,  G06K9/62 ,  G06T19/00 ,  G01C17/38 ,  G01C21/20 ,  G05D1/02 ,  G06F1/16 ,  G06F1/3234 ,  G06F3/038 ,  G06F3/01 ,  G01C17/28 ,  G06F3/0346

    Abstract: An electronic device generates a summary map of a scene based on data representative of objects having a high utility for identifying the scene when estimating a current pose of the electronic device and localizes the estimated current pose with respect to the summary map. The electronic device identifies scenes based on groups of objects appearing together in consistent configurations over time, and identifies utility weights for objects appearing in scenes, wherein the utility weights indicate a predicted likelihood that the corresponding object will be persistently identifiable by the electronic device in the environment over time and are based at least in part on verification by one or more mobile devices. The electronic device generates a summary map of each scene based on data representative of objects having utility weights above a threshold.

    SYSTEM AND METHOD FOR MERGING MAPS
    4.
    发明申请
    SYSTEM AND METHOD FOR MERGING MAPS 审中-公开

    公开(公告)号：US20180276863A1

    公开(公告)日：2018-09-27

    申请号：US15466494

    申请日：2017-03-22

    Applicant: Google Inc.

    Inventor： Esha Nerurkar ,  Simon Lynen ,  Dongfang Zheng

    IPC: G06T11/60 ,  G06T3/00 ,  G06T7/33

    CPC classification number: G06T11/60 ,  G01C21/32 ,  G06F16/29 ,  G06T3/0068 ,  G06T7/337 ,  G06T2207/20221

    Abstract: An electronic device merges a plurality of maps, or area description files (ADFs), by representing relationships among ADFs in an undirected graph, with vertices representing maps and edges representing transformations between maps. As the electronic device generates new ADFs, the electronic device merges each new ADF to a stored collection of ADFs by adding each new ADF as a vertex and transformations between the new ADF and the collection of ADFs as edges in the undirected graph. In this way, the map merger can use the undirected graph to more accurately represent the relations between any two maps, allowing more efficient merger of new maps to a previously stored collection of maps, and allowing for the development of more flexible and efficient algorithms for manipulating the merged maps.

    SYSTEM AND METHOD FOR CONCURRENT ODOMETRY AND MAPPING
    8.
    发明申请
    SYSTEM AND METHOD FOR CONCURRENT ODOMETRY AND MAPPING 审中-公开

    公开(公告)号：US20170336511A1

    公开(公告)日：2017-11-23

    申请号：US15595617

    申请日：2017-05-15

    Applicant: Google Inc.

    Inventor： Esha Nerurkar ,  Simon Lynen ,  Sheng Zhao

    IPC: G01S17/89 ,  H04N13/02 ,  G06T7/55 ,  H04N13/00 ,  G01S7/481

    Abstract: An electronic device tracks its motion in an environment while building a three-dimensional visual representation of the environment that is used to correct drift in the tracked motion. A motion tracking module estimates poses of the electronic device based on feature descriptors corresponding to the visual appearance of spatial features of objects in the environment. A mapping module builds a three-dimensional visual representation of the environment based on a stored plurality of maps, and feature descriptors and estimated device poses received from the motion tracking module. The mapping module provides the three-dimensional visual representation of the environment to a localization module, which identifies correspondences between stored and observed feature descriptors. The localization module performs a loop closure by minimizing the discrepancies between matching feature descriptors to compute a localized pose. The localized pose corrects drift in the estimated pose generated by the motion tracking module.

    PRIVACY-SENSITIVE QUERY FOR LOCALIZATION AREA DESCRIPTION FILE
    9.
    发明申请
    PRIVACY-SENSITIVE QUERY FOR LOCALIZATION AREA DESCRIPTION FILE 审中-公开
    用于本地化区域描述文件的隐私检索

    公开(公告)号：US20160335275A1

    公开(公告)日：2016-11-17

    申请号：US14708970

    申请日：2015-05-11

    Applicant: Google Inc.

    Inventor： Brian Patrick Williams ,  Laurent Tu ,  Esha Nerurkar ,  Simon Lynen

    IPC: G06F17/30

    CPC classification number: G06F16/9537 ,  G01S5/0252 ,  G01S5/16 ,  G06F16/13 ,  G06F16/148 ,  G06F16/24578 ,  G06T7/246 ,  G06T7/73 ,  H04W4/024 ,  H04W4/026 ,  H04W4/029 ,  H04W64/00

    Abstract: A computing system includes a datastore, a network interface, and a query module. The datastore stores a plurality of localization area description files. The network interface is to receive a request for a localization area description file from a mobile device, the request comprising a set of spatial features and at least one non-image location indicator. The query module includes a query interface to identify one or more candidate localization area description files based on one of the set of spatial features of the request and the at least one location indicator of the request, and includes a selection module to select a localization area description file from the candidate localization area description files based on the other of the set of spatial features of the request and the at least one location indicator. The query module is to provide the selected localization area description file to the mobile device.

    Abstract translation: 计算系统包括数据存储，网络接口和查询模块。 数据存储存储多个定位区域描述文件。 网络接口是从移动设备接收对定位区域描述文件的请求，该请求包括一组空间特征和至少一个非图像位置指示符。 查询模块包括一个查询界面，用于根据请求的一组空间特征和请求的至少一个位置指示符来识别一个或多个候选定位区描述文件，并且包括选择模块以选择一个定位区域 基于所述请求的所述一组空间特征和所述至少一个位置指示符中的另一个的来自候选定位区域描述文件的描述文件。 查询模块是将选定的定位区域描述文件提供给移动设备。

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