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1. 发明授权

US08274507B2 Method and apparatus for obtaining 3-dimensional data with a portable device 有权
标题翻译：用便携式设备获得3维数据的方法和装置
公开(公告)号：US08274507B2
公开(公告)日：2012-09-25
申请号：US12497089
申请日：2009-07-02
申请人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Badri Raghunathan
发明人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Badri Raghunathan
IPC分类号： G06T15/00
CPC分类号： G01B11/2518 , G01S17/42 , G01S17/89 , G01S17/93 , H04M1/0272 , H04M1/21 , H04M2250/12 , H04M2250/52
摘要： In one embodiment, a three dimensional imaging system includes a portable housing configured to be carried by a user, microelectrical mechanical system (MEMS) projector supported by the housing sensor supported by the housing and configured to detect signals emitted by the MEMS projector, a memory including program instructions for generating an encoded signal with the MEMS projector, emitting the encoded signal, detecting the emitted signal after the emitted signal is reflected by a body, associating the detected signal with the emitted signal, comparing the detected signal with the associated emitted signal, determining an x-axis dimension, a y-axis dimension, and a z-axis dimension of the body based upon the comparison, and storing the determined x-axis dimension, y-axis dimension, and z-axis dimension of the body, and a processor operably connected to the memory, to the sensor, and to the MEMS projector for executing the program instructions.
摘要翻译：在一个实施例中，三维成像系统包括被配置为由用户携带的便携式外壳，由壳体支撑的壳体传感器支撑并被配置为检测由MEMS投影仪发射的信号的微机电系统（MEMS）投影仪，包括用于利用MEMS投影仪生成编码信号的程序指令，发射编码信号，在发射的信号被身体反射之后检测发射信号，将检测到的信号与发射的信号相关联，将检测到的信号与相关的发射信号进行比较，基于比较确定身体的x轴尺寸，y轴尺寸和z轴尺寸，并且存储确定的身体的x轴尺寸，y轴尺寸和z轴尺寸以及可操作地连接到存储器，传感器和用于执行程序指令的MEMS投影仪的处理器。

2. 发明申请

US20110001983A1 METHOD AND APPARATUS FOR OBTAINING 3-DIMENSIONAL DATA WITH A PORTABLE DEVICE 有权
标题翻译：用于获取具有便携式设备的三维数据的方法和装置
公开(公告)号：US20110001983A1
公开(公告)日：2011-01-06
申请号：US12497089
申请日：2009-07-02
申请人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Badri Raghunathan
发明人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Badri Raghunathan
IPC分类号： G01B11/25
CPC分类号： G01B11/2518 , G01S17/42 , G01S17/89 , G01S17/93 , H04M1/0272 , H04M1/21 , H04M2250/12 , H04M2250/52
摘要： In one embodiment, a three dimensional imaging system includes a portable housing configured to be carried by a user, microelectrical mechanical system (MEMS) projector supported by the housing. sensor supported by the housing and configured to detect signals emitted by the MEMS projector, a memory including program instructions for generating an encoded signal with the MEMS projector, emitting the encoded signal, detecting the emitted signal after the emitted signal is reflected by a body, associating the detected signal with the emitted signal, comparing the detected signal with the associated emitted signal, determining an x-axis dimension, a y-axis dimension, and a z-axis dimension of the body based upon the comparison, and storing the determined x-axis dimension, y-axis dimension, and z-axis dimension of the body, and a processor operably connected to the memory, to the sensor, and to the MEMS projector for executing the program instructions.
摘要翻译：在一个实施例中，三维成像系统包括被配置为由用户承载的便携式外壳，由壳体支撑的微电机械系统（MEMS）投影仪。传感器，其被壳体支持并且被配置为检测由MEMS投影仪发射的信号;存储器，包括用于利用MEMS投影仪生成编码信号的程序指令，发射编码信号，在发射信号被身体反射之后检测发射信号，将检测到的信号与发射信号相关联，将检测到的信号与相关联的发射信号进行比较，基于比较确定身体的x轴尺寸，y轴尺寸和z轴尺寸，并存储确定的主体的x轴尺寸，y轴尺寸和z轴尺寸，以及可操作地连接到存储器，传感器和用于执行程序指令的MEMS投影仪的处理器。

3. 发明申请

US20100283633A1 CAMERA SYSTEM FOR USE IN VEHICLE PARKING 有权
标题翻译：用于停车场的摄像机系统
公开(公告)号：US20100283633A1
公开(公告)日：2010-11-11
申请号：US12463699
申请日：2009-05-11
申请人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Charles DuHadway
发明人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Charles DuHadway
IPC分类号： B60Q1/48 , H04N7/18
CPC分类号： B62D15/028 , B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/607 , B60R2300/806 , B62D15/027 , G06T15/205 , H04N7/181
摘要： A method for assisting in parallel parking includes providing a vehicle with a forward-looking camera and/or a backward-looking camera. The camera is used to capture an image of a parking area including at least one unoccupied parking space and a plurality of parking spaces occupied by other vehicles. A homography of the captured image is created. The homography is used to estimate an image of the parking area from an overhead viewpoint. A portion of the overhead image including the unoccupied parking space is displayed on a display screen within a passenger compartment of the vehicle.
摘要翻译：一种用于协助平行停车的方法包括向车辆提供前视摄像机和/或后视摄像机。相机用于捕获包括至少一个未占用的停车位和由其他车辆占据的多个停车位的停车区域的图像。创建捕获图像的单对应性。单打印被用于从俯视观点估计停车区域的图像。包括未占用的停车位的架空图像的一部分被显示在车辆的乘客舱内的显示屏幕上。

4. 发明授权

US08473187B2 Method and apparatus for combining three-dimensional position and two-dimensional intensity mapping for localization 有权
标题翻译：用于组合三维位置和用于定位的二维强度映射的方法和装置
公开(公告)号：US08473187B2
公开(公告)日：2013-06-25
申请号：US12475701
申请日：2009-06-01
申请人： Soeren Kammel , Benjamin Pitzer , Jan Becker , Charles DuHadway
发明人： Soeren Kammel , Benjamin Pitzer , Jan Becker , Charles DuHadway
IPC分类号： G01C21/00
CPC分类号： G01C21/005 , A01D34/008 , G01S19/48
摘要： A mapping method includes using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface. Three-dimensional positions of the features are sensed during the mapping. A three-dimensional map is created including associations between the three-dimensional positions of the features and the map of the two-dimensional features. The three-dimensional map is provided from the first mobile unit to a second mobile unit. The second mobile unit is used to map the two-dimensional features while the second mobile unit traverses the surface. Three-dimensional positions of the two-dimensional features mapped by the second mobile unit are determined within the second mobile unit and by using the three-dimensional map.
摘要翻译：映射方法包括当第一移动单元穿过表面时，使用第一移动单元映射二维特征。在映射期间感测特征的三维位置。创建三维地图，其包括特征的三维位置与二维特征的地图之间的关联。从第一移动单元向第二移动单元提供三维地图。第二移动单元用于在第二移动单元穿过表面时映射二维特征。在第二移动单元内确定由第二移动单元映射的二维特征的三维位置，并通过使用三维地图。

5. 发明授权

US08289189B2 Camera system for use in vehicle parking 有权
标题翻译：用于车辆停车场的相机系统
公开(公告)号：US08289189B2
公开(公告)日：2012-10-16
申请号：US12463699
申请日：2009-05-11
申请人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Charles DuHadway
发明人： Jan Becker , Soeren Kammel , Benjamin Pitzer , Charles DuHadway
IPC分类号： B60Q1/48 , H04N7/18
CPC分类号： B62D15/028 , B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/607 , B60R2300/806 , B62D15/027 , G06T15/205 , H04N7/181
摘要： A method for assisting in parallel parking includes providing a vehicle with a forward-looking camera and/or a backward-looking camera. The camera is used to capture an image of a parking area including at least one unoccupied parking space and a plurality of parking spaces occupied by other vehicles. A homography of the captured image is created. The homography is used to estimate an image of the parking area from an overhead viewpoint. A portion of the overhead image including the unoccupied parking space is displayed on a display screen within a passenger compartment of the vehicle.
摘要翻译：一种用于协助平行停车的方法包括向车辆提供前视摄像机和/或后视摄像机。相机用于捕获包括至少一个未占用的停车位和由其他车辆占据的多个停车位的停车区域的图像。创建捕获图像的单对应性。单打印被用于从俯视观点估计停车区域的图像。包括未占用的停车位的架空图像的一部分被显示在车辆的乘客舱内的显示屏幕上。

6. 发明授权

US08219274B2 3-dimensional perception system and method for mobile platform 有权
标题翻译： 3维感知系统和移动平台的方法
公开(公告)号：US08219274B2
公开(公告)日：2012-07-10
申请号：US12497160
申请日：2009-07-02
申请人： Jan Becker , Soeren Kammel , Benjamin Pitzer
发明人： Jan Becker , Soeren Kammel , Benjamin Pitzer
IPC分类号： G05D1/00
CPC分类号： G05D1/0246 , G05D1/0274 , G05D2201/0207
摘要： In one embodiment, an autonomously navigated mobile platform includes a support frame, a projector supported by the frame, a sensor supported by the frame, a memory including a plurality of program instructions stored therein for generating an encoded signal using a phase shifting algorithm, emitting the encoded signal with the projector, detecting the emitted signal with the sensor after the emitted signal is reflected by a detected body, associating the detected signal with the emitted signal, identifying an x-axis dimension, a y-axis dimension, and a z-axis dimension of the detected body, and one or more of a range and a bearing to the detected body, based upon the associated signal, identifying a present location of the mobile platform, navigating the mobile platform based upon the identified location, and a processor operably connected to the memory, to the sensor, and to the projector for executing the program instructions.
摘要翻译：在一个实施例中，自主导航的移动平台包括支撑框架，由框架支撑的投影仪，由框架支撑的传感器，包含存储在其中的多个程序指令的存储器，用于使用相移算法产生编码信号，发射在发射信号被检测到的身体反射之后，用投影仪检测发射信号与传感器的发射信号，将检测到的信号与发射信号相关联，识别x轴尺寸，y轴尺寸和z 基于相关联的信号，识别移动平台的当前位置，基于所识别的位置导航移动平台，以及检测到的身体的一个或多个范围和方位;以及处理器可操作地连接到存储器，传感器和投影仪，用于执行程序指令。

7. 发明申请

US20110004366A1 3-DIMENSIONAL PERCEPTION SYSTEM AND METHOD FOR MOBILE PLATFORM 有权
标题翻译：移动平台的三维感知系统和方法
公开(公告)号：US20110004366A1
公开(公告)日：2011-01-06
申请号：US12497160
申请日：2009-07-02
申请人： Jan Becker , Soeren Kammel , Benjamin Pitzer
发明人： Jan Becker , Soeren Kammel , Benjamin Pitzer
IPC分类号： G05D1/00
CPC分类号： G05D1/0246 , G05D1/0274 , G05D2201/0207
摘要： In one embodiment, an autonomously navigated mobile platform includes a support frame, a projector supported by the frame, a sensor supported by the frame, a memory including a plurality of program instructions stored therein for generating an encoded signal using a phase shifting algorithm, emitting the encoded signal with the projector, detecting the emitted signal with the sensor after the emitted signal is reflected by a detected body, associating the detected signal with the emitted signal, identifying an x-axis dimension, a y-axis dimension, and a z-axis dimension of the detected body, and one or more of a range and a bearing to the detected body, based upon the associated signal, identifying a present location of the mobile platform, navigating the mobile platform based upon the identified location, and a processor operably connected to the memory, to the sensor, and to the projector for executing the program instructions.
摘要翻译：在一个实施例中，自主导航的移动平台包括支撑框架，由框架支撑的投影仪，由框架支撑的传感器，包含存储在其中的多个程序指令的存储器，用于使用相移算法产生编码信号，发射在发射信号被检测到的身体反射之后，用投影仪检测发射信号与传感器的发射信号，将检测到的信号与发射信号相关联，识别x轴尺寸，y轴尺寸和z 基于相关联的信号，识别移动平台的当前位置，基于所识别的位置导航移动平台，以及检测到的身体的一个或多个范围和方位;以及处理器可操作地连接到存储器，传感器和投影仪，用于执行程序指令。

8. 发明申请

US20100305854A1 METHOD AND APPARATUS FOR COMBINING THREE-DIMENSIONAL POSITION AND TWO-DIMENSIONAL INTENSITY MAPPING FOR LOCALIZATION 有权
标题翻译：用于组合三维位置和二维强度映射用于本地化的方法和装置
公开(公告)号：US20100305854A1
公开(公告)日：2010-12-02
申请号：US12475701
申请日：2009-06-01
申请人： Soeren Kammel , Benjamin Pitzer , Jan Becker , Charles DuHadway
发明人： Soeren Kammel , Benjamin Pitzer , Jan Becker , Charles DuHadway
IPC分类号： G01C21/00
CPC分类号： G01C21/005 , A01D34/008 , G01S19/48
摘要： A mapping method includes using a first mobile unit to map two-dimensional features while the first mobile unit traverses a surface. Three-dimensional positions of the features are sensed during the mapping. A three-dimensional map is created including associations between the three-dimensional positions of the features and the map of the two-dimensional features. The three-dimensional map is provided from the first mobile unit to a second mobile unit. The second mobile unit is used to map the two-dimensional features while the second mobile unit traverses the surface. Three-dimensional positions of the two-dimensional features mapped by the second mobile unit are determined within the second mobile unit and by using the three-dimensional map.
摘要翻译：映射方法包括当第一移动单元穿过表面时，使用第一移动单元映射二维特征。在映射期间感测特征的三维位置。创建三维地图，其包括特征的三维位置与二维特征的地图之间的关联。从第一移动单元向第二移动单元提供三维地图。第二移动单元用于在第二移动单元穿过表面时映射二维特征。在第二移动单元内确定由第二移动单元映射的二维特征的三维位置，并通过使用三维地图。

9. 发明授权

US09194949B2 Methods and systems for precise vehicle localization using radar maps 有权
标题翻译：使用雷达地图精确车辆定位的方法和系统
公开(公告)号：US09194949B2
公开(公告)日：2015-11-24
申请号：US13277879
申请日：2011-10-20
申请人： Jan Becker , Oliver Schwindt , Soeren Kammel
发明人： Jan Becker , Oliver Schwindt , Soeren Kammel
IPC分类号： G01C21/00 , G01S13/86 , G01S13/89
CPC分类号： G01S13/86 , G01S13/89
摘要： A method for determining a location of a vehicle. The method includes steps of acquiring a plurality of sensor data from a radar sensor associated with the vehicle; obtaining an approximate location of the vehicle using a GPS unit; comparing the sensor data to a database of geo-referenced sensor data; and based on the comparison, determining a location of the vehicle.
摘要翻译：一种用于确定车辆位置的方法。该方法包括从与车辆相关的雷达传感器获取多个传感器数据的步骤; 使用GPS单元获得车辆的大致位置; 将传感器数据与地理参考传感器数据的数据库进行比较; 并且基于该比较，确定车辆的位置。

10. 发明申请

US20130103298A1 METHODS AND SYSTEMS FOR PRECISE VEHICLE LOCALIZATION USING RADAR MAPS 有权
标题翻译：使用RADAR MAPS的精确车辆定位的方法和系统
公开(公告)号：US20130103298A1
公开(公告)日：2013-04-25
申请号：US13277879
申请日：2011-10-20
申请人： Jan Becker , Oliver Schwindt , Soeren Kammel
发明人： Jan Becker , Oliver Schwindt , Soeren Kammel
IPC分类号： G06G7/78
CPC分类号： G01S13/86 , G01S13/89
摘要： A method for determining a location of a vehicle. The method includes steps of acquiring a plurality of sensor data from a radar sensor associated with the vehicle; obtaining an approximate location of the vehicle using a GPS unit; comparing the sensor data to a database of geo-referenced sensor data; and based on the comparison, determining a location of the vehicle.
摘要翻译：一种用于确定车辆位置的方法。该方法包括从与车辆相关的雷达传感器获取多个传感器数据的步骤; 使用GPS单元获得车辆的大致位置; 将传感器数据与地理参考传感器数据的数据库进行比较; 并且基于该比较，确定车辆的位置。

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