Abstract: A mobile communications device for performing localization and mapping is disclosed, comprising a sensor operative to capture sensor data of its local environment, and operative to derive point-cloud data from the sensor data, which represents structural features of the local environment, determine a pose of the mobile communications device relative to a point-cloud map representing the local environment, derive a concealed representation of the point-cloud data, by applying a current linear transformation to the point-cloud data, and transmit the concealed representation of the point-cloud data to a map server. The current linear transformation is a shared secret, or is derivable from a shared secret, which shared secret is available to a group of mobile communications devices comprising the mobile communications device. Also disclosed are the map sever and a trusted server.

Abstract: A method and a communication device for changing the shape of a flexible communication device is suggested. The suggested method is initiated by recognizing a request for actuating a haptic effect on the communication device. At least one property associated with the requested haptic effect, and at least one property of the communication device, where the latter is being caused by the shape of the communication device, are determined. Based on the mentioned properties, a determination is made on whether conditions, specifying requirements for reproducing the haptic effect on the communication device, are met or not. In case the mentioned conditions are not met, a modification of the shape of the device is determined, such that after such a modification the conditions are met with respect to the mentioned properties.

Abstract: A head-mounted display device (HMD) configured to be worn by a user is provided. The HMD comprises an at least partially see-through display, a front-facing camera operative to capture a first image of a real-world scene, and processing means which is operative to select a calibration object from one or more real-world objects, or parts thereof, which are visible in the first image, and derive a calibration transformation for calculating a display position based on a real-world position, such that a virtual object which is displayed on the display at the display position is aligned with a corresponding real-world object located at the real-world position, as seen by the user.

Abstract: It is provided a method for performing 3D reconstruction. The method includes: obtaining sensor data; determining a pose estimate; estimating a pose error; comparing the pose error against an error threshold; performing a device 3D reconstruction when the pose error is determined to be smaller than the error threshold, resulting in updates to a device 3D model; sending a 3D reconstruction request to the server to perform a central 3D reconstruction, when the pose error is determined to be greater than the error threshold, wherein the 3D reconstruction request includes data based on the sensor data; receiving a result of a central 3D reconstruction from the server; and performing a 3D model fusion of a device 3D model in the mobile device and the result of the central 3D reconstruction, wherein the device 3D model, at least partly, is a result of previous device 3D reconstruction.

Abstract: A data collection and reporting system for a multinational corporation (MNC) identifies the regions with which the MNC is associated and generates region data collecting jobs to be executed in each of these regions. The jobs are executed during off-peak hours for each region. Each region data collecting job results in a region aggregate to be computed based on the data collected from the region. Once all region aggregates have been computed and stored, a global aggregate is computed from the region aggregates. The global aggregate is then processed to generate reporting data which is used to generate one or more data reports for the MNC.

Abstract: There is provided techniques for generating a dense 3D point cloud of a scene. A method is performed by an image processing device (400). The method comprises performing (S102) sequential matching for a set of images, obtained from an image scan of the scene, where each image has a color value and a depth value, to establish a correspondence between consecutive images in the set of images, to generate a sparse 3D point cloud from the images, and to estimate one camera pose value for each image. The method comprises determining (S104) one reliability value for each camera pose value. The method comprises generating (S114a) the dense 3D point cloud, when a lowest value of all determined reliability values is larger than a threshold reliability value, by densification of the sparse 3D point cloud and using the estimated camera pose values.

Abstract: A mobile electronic device is provided for use with a headset. A camera outputs digital pictures of a portion of the headset. A display device displays information for viewing by a user wearing the headset. A processor retrieves calibration parameters that characterize at least a pose of the camera relative to the display device, and processes a digital picture from the camera to identify a pose of an optically identifiable feature within the digital picture. A pose of the mobile electronic device is identified relative to the holder based on the identified pose of the optically identifiable feature within the digital picture and based on at least the pose of the camera relative to the display device as characterized by the calibration parameters. The processor controls where graphical objects are rendered on the display device based on the identified pose of the mobile electronic device relative to the holder.

Abstract: A mobile computing device (MCD, 100) for controlling concurrent execution of perception algorithms is provided. comprising network interface circuitry and processing circuitry.

Abstract: A method, executed at a controller for adapting a virtual object model, and a controller for executing the suggested method, where the method comprises acquiring of a virtual object model of a relevant virtual object and acquiring of at least one real object model of a relevant real object. Matching, according to at least one matching criteria, at least a part of the virtual object model to at least a part of one of the at least one real object model, selecting the best matching real object, and modifying at least a part of the virtual object model with respect to the at least part of the selected real object model.

Abstract: A first electronic device controls a second electronic device to measure a position of the first electronic device. The first electronic device includes a motion sensor, a network interface circuit, a processor, and a memory. The motion sensor senses motion of the first electronic device. The network interface circuit communicates with the second electronic device. The memory stores program code that is executed by the processor to perform operations that include, responsive to determining that the first electronic device has a level of motion that satisfies a defined rule, transmitting a request for the second electronic device to measure a position of the first electronic device. The position of the first electronic device is sensed and then stored in the memory. An acknowledgement is received from the second electronic device indicating that it has stored sensor data that can be used to measure the position of the first electronic device.

Abstract: It is provided a system for updating a map. The system includes: a server and a mobile device. The mobile device is configured to: obtain a metric set; determine that processing by the server is to be used for at least some map processing when the metric set indicates a network condition that is sufficiently good; instructing the server to perform at least some map processing, when processing by the server is determined to be used; perform all map processing within the mobile device, when processing by the server is determined not to be used; and update a local map in the mobile device based on a result from the map processing. The server is configured to: when instructed by the mobile device performing at least some map processing; and transmit at least part of the result of the map processing in the server, to the mobile device.

Abstract: Methods and apparatuses for packet processing. A method performed by a network function includes receiving message processing information relating to one or more publish-subscribe applications executed by one or more subscriber wireless devices. The method further includes causing a packet dropping task to be initiated to handle packets for each application, wherein each packet dropping task processes packets directed towards a given application from among applications, and wherein the processing performed by each packet dropping task comprises retaining packets directed towards the given application in a task-side message buffer until a task-side message buffer capacity is reached and discarding packets directed towards the given application when the task-side message buffer capacity has been reached. The method also includes initiating transmission of the packets in the task-side message buffer towards applications.

Abstract: A mapping device receives a request for localization using current sensor data which is image-based sensor data or structure-based sensor data, access image-based map elements and structure-based map elements, each map element being associated with a capturing time indicating a time of capturing the sensor data based on which it was derived, identify pairs of corresponding map elements, each pair including an image-based map element and a structure-based map element representing features at the same real-world location, and for each pair of corresponding map elements: determine an information difference metric between the image-based map element and the structure-based map element, and select one of the map elements of the pair of corresponding map elements for updating the heterogenous map based on a comparison of the respective capturing times, a type of the current sensor data, and the information difference metric.

Abstract: A device is disclosed that is configured for performing localization using one or both of a depth sensor and a monocular camera that are transportable with the device. The device is adapted to receive depth data from the depth sensor, determine a benefit level of activating the monocular camera for localization, based on the depth data, and activate the monocular camera for localization based on a determination that the benefit level of activating the monocular camera satisfies an activation rule. Related methods and computer program products are also disclosed.

Abstract: A method for detecting a change in an area of interest. The method includes: 1) forming a pointcloud that comprises: i) a first set of points derived from a first set of one or more images and ii) a second set of points derived from a second set of one or more images; 2) for each point included in the pointcloud, assigning a similarity score to the point; 3) for at least each point from the pointcloud that is included in a particular set of points (e.g., for each point in the pointcloud that is assigned a similarity score that exceeds a threshold (e.g. 0)), determining a value Nt and a value Nnew and adjusting the similarity score assigned to the point based on Nt and Nnew; and 4) using the adjusted similarity scores to determine whether the area of interest has changed.

Abstract: A method of controlling a portable device including a camera, the method including: performing localization of the portable device using a localization algorithm having as an input image data representing images captured by the camera; identifying a current focus area of the camera; determining a desired focus area for the camera; determining that a change of focus is required when the desired focus area is different to the current focus area; and generating a control signal configured to cause the focus of the camera to change in respect of a new focus area.

Abstract: A head-mounted display device (HMD) configured to be worn by a user is provided. The HMD comprises an at least partially see-through display, a front-facing camera operative to capture a first image of a real-world scene, and processing means which is operative to select a calibration object from one or more real-world objects, or parts thereof, which are visible in the first image, and derive a calibration transformation for calculating a display position based on a real-world position, such that a virtual object which is displayed on the display at the display position is aligned with a corresponding real-world object located at the real-world position, as seen by the user.

Abstract: It is presented a method for controlling display of content, the method being performed in a wearable device, the wearable device comprising a head mounted display allowing a user to see both real-world objects and computer-rendered content. The method comprises the steps of: selecting an external display device in a vicinity of the wearable device; determining first visual content to be suitable for being displayed on the external display device; and sending a request for the external display device to display the first visual content and refraining from displaying the first visual content using the head mounted display.

Abstract: A head-mounted display device (HMD) configured to be worn by a user is provided. The HMD comprises an at least partially see-through display, a front-facing camera operative to capture a first image of a real-world scene, and processing means which is operative to select a calibration object from one or more real-world objects, or parts thereof, which are visible in the first image, and derive a calibration transformation for calculating a display position based on a real-world position, such that a virtual object which is displayed on the display at the display position is aligned with a corresponding real-world object located at the real-world position, as seen by the user.

Abstract: A map processing device obtains images from a camera transported with a mobile device, and detects 2D features in the images. At least some of the 2D features detected in the images are densified to generate a densified set of 2D features. Locations of the densified set of 2D features are determined in 3D space using an image-based localization algorithm. A structure-based map comprising depth information from a depth sensor transported by another mobile device is accessed, wherein the depth information includes a set of data points indicating locations in 3D space corresponding to features in the real-world sensed by the depth sensor. The camera transported with the mobile device is localized to the real-world based on matching the locations of the densified set of 2D features in 3D space to the depth information accessed in the structure-based map.