Abstract: A method of complementing a map of a scene with 3D reference points including four steps. In a first step, data is collected and recorded based on samples of at least one of an optical sensor, a GNSS, and an IMU. A second step includes initial pose generation by processing of the collected sensor data to provide a track of vehicle poses. A pose is based on a specific data set, on at least one data set recoded before that dataset and on at least one data set recorded after that data set. A third step includes SLAM processing of the initial poses and collected optical sensor data to generate keyframes with feature points. In a fourth step 3D reference points are generated by fusion and optimization of the feature points by using future and past feature points together with a feature point at a point of processing. This second and fourth steps provides significantly better results than SLAM or VIO methods known from prior art, as the second and the fourth steps are based on recorded data.

Abstract: Some embodiments include a method of generating an environment reference model for positioning comprising: receiving multiple data sets representing a scanned environment including information about a type of sensor used and data for determining an absolute position of objects or feature points represented by the data sets; extracting one or more objects or feature points from each data set; determining a position of each object or feature point in a reference coordinate system; generating a three-dimensional vector representation of the scanned environment aligned with the reference coordinate system including representation of the objects or feature points at corresponding locations, creating links between the objects or feature points in the three dimensional vector model with an identified type of sensor by which they can be detected in the environment; and storing the three-dimensional vector model representation and the links in a retrievable manner.

Abstract: Some embodiments include a method of generating an environment reference model for positioning comprising: receiving multiple data sets representing a scanned environment including information about a type of sensor used and data for determining an absolute position of objects or feature points represented by the data sets; extracting one or more objects or feature points from each data set; determining a position of each object or feature point in a reference coordinate system; generating a three-dimensional vector representation of the scanned environment aligned with the reference coordinate system including representation of the objects or feature points at corresponding locations, creating links between the objects or feature points in the three dimensional vector model with an identified type of sensor by which they can be detected in the environment; and storing the three-dimensional vector model representation and the links in a retrievable manner.

Abstract: A device for measuring length and center of mass of conical workpiece, including an inner frame, an outer frame, a base plate, two laser displacement sensors and a plurality of weighing mechanisms. The inner frame is rotatably connected with the outer frame through a pin shaft. A bottom surface of the conical workpiece can be fixedly connected with an inner bottom surface of the inner frame. The base plate is removably arranged on the inner frame, and abuts against a top of the conical workpiece. The base plate is perpendicular to an axis of the conical workpiece. The laser displacement sensors are fixedly arranged at a position of the inner frame below the top of the conical workpiece. The weighing mechanisms are provided at a bottom of the outer frame, and can bear the inner frame, the outer frame and the conical workpiece.

Abstract: A device for measuring length and center of mass of conical workpiece, including an inner frame, an outer frame, a base plate, two laser displacement sensors and a plurality of weighing mechanisms. The inner frame is rotatably connected with the outer frame through a pin shaft. A bottom surface of the conical workpiece can be fixedly connected with an inner bottom surface of the inner frame. The base plate is removably arranged on the inner frame, and abuts against a top of the conical workpiece. The base plate is perpendicular to an axis of the conical workpiece. The laser displacement sensors are fixedly arranged at a position of the inner frame below the top of the conical workpiece. The weighing mechanisms are provided at a bottom of the outer frame, and can bear the inner frame, the outer frame and the conical workpiece.

Abstract: Some embodiments include a method of generating an environment reference model for positioning comprising: receiving multiple data sets representing a scanned environment including information about a type of sensor used and data for determining an absolute position of objects or feature points represented by the data sets; extracting one or more objects or feature points from each data set; determining a position of each object or feature point in a reference coordinate system; generating a three-dimensional vector representation of the scanned environment aligned with the reference coordinate system including representation of the objects or feature points at corresponding locations, creating links between the objects or feature points in the three dimensional vector model with an identified type of sensor by which they can be detected in the environment; and storing the three-dimensional vector model representation and the links in a retrievable manner.

Abstract: A method of complementing a map of a scene with 3D reference points including four steps. In a first step, data is collected and recorded based on samples of at least one of an optical sensor, a GNSS, and an IMU. A second step includes initial pose generation by processing of the collected sensor data to provide a track of vehicle poses. A pose is based on a specific data set, on at least one data set re-coded before that dataset and on at least one data set recorded after that data set. A third step includes SLAM processing of the initial poses and collected optical sensor data to generate keyframes with feature points. In a fourth step 3D reference points are generated by fusion and optimization of the feature points by using future and past feature points together with a feature point at a point of processing. This second and fourth steps provides significantly better results than SLAM or VIO methods known from prior art, as the second and the fourth steps are based on recorded data.

Abstract: Some embodiments include a method of generating an environment reference model for positioning comprising: receiving multiple data sets representing a scanned environment including information about a type of sensor used and data for determining an absolute position of objects or feature points represented by the data sets; extracting one or more objects or feature points from each data set; determining a position of each object or feature point in a reference coordinate system; generating a three-dimensional vector representation of the scanned environment aligned with the reference coordinate system including representation of the objects or feature points at corresponding locations; creating links between the objects or feature points in the three-dimensional vector model with an identified type of sensor by which they can be detected in the environment; and storing the three-dimensional vector model representation and the links in a retrievable manner.

Abstract: Method and system for generating an environment model for positioning include the generation of a 3D model of a scanned environment from a mobile entity, the 3D model being construed as a point cloud. A segmentation of the point cloud of the 3D model in a plurality of segmented portions of the point cloud is performed, and 3D objects are modelled directly from the point cloud by analyzing each of the segmented portions of the point cloud. The generated 3D model of the scanned environment is matched with an existing 3D model of the environment. A database representing of an improved 3D model of the environment is generated by aligning the existing 3D model of the environment and the generated 3D model of the scanned environment.

Abstract: Some embodiments include a method of generating an environment reference model for positioning comprising: receiving multiple data sets representing a scanned environment including information about a type of sensor used and data for determining an absolute position of objects or feature points represented by the data sets; extracting one or more objects or feature points from each data set; determining a position of each object or feature point in a reference coordinate system; generating a three-dimensional vector representation of the scanned environment aligned with the reference coordinate system including representation of the objects or feature points at corresponding locations; creating links between the objects or feature points in the three-dimensional vector model with an identified type of sensor by which they can be detected in the environment; and storing the three-dimensional vector model representation and the links in a retrievable manner.

Abstract: A top-view image of a road is composed from at least two images taken by a vehicle-mounted camera. A speed and/or an acceleration of the vehicle is recorded, as well as at least two sequential images. A first image is selected for further processing. A first selected area of the first selected image is determined, located in a zone of the image with minimum distortion. A second image captured later is selected for further processing. A second area of the second image is selected in a zone of the image with minimum distortion and located such that image content shown at a lower border of the second area is adjacent to image content at an upper border of the first selected area. The first and second selected areas are transformed into a top-view perspective, and the transformed first and second selected areas stitched together for generating a composed top-view image.

Abstract: A top-view image of a road is composed from at least two images taken by a vehicle-mounted camera. A speed and/or an acceleration of the vehicle is recorded, as well as at least two sequential images. A first image is selected for further processing. A first selected area of the first selected image is determined, located in a zone of the image with minimum distortion. A second image captured later is selected for further processing. A second area of the second image is selected in a zone of the image with minimum distortion and located such that image content shown at a lower border of the second area is adjacent to image content at an upper border of the first selected area. The first and second selected areas are transformed into a top-view perspective, and the transformed first and second selected areas stitched together for generating a composed top-view image.

Abstract: A method for initial synchronization with TD-SCDMA system in the connection mode of GSM system, to resolve the problem of the downlink synchronization codes (DwPTS) may be undetectable or taking too much time to be detected when a TD-SCDMA/GSM dual-mode terminal is examining TD-SCDMA frames in GSM connection mode with prior art; in the connection mode of the GSM system, the method receives or transmits service data within the service time slots of the GSM frame at the radio frequency band of the GSM system, and receives TD-SCDMA signal within the idle time slots of the GSM frame at the radio frequency band of the TD-SCDMA system, and detects DwPTS in the received TD-SCDMA signal, thus the terminal in the connection mode of the GSM system can quickly detect the DwPTS in TD-SCDMA frames, achieving the initial synchronization of the TD-SCDMA/GSM dual-mode system. A GSM system processing apparatus and a communication apparatus are also disclosed in the invention.