Abstract: Vision based tracking of a mobile device is used to remotely control a robot. For example, images captured by a mobile device, e.g., in a video stream, are used for vision based tracking of the pose of the mobile device with respect to the imaged environment. Changes in the pose of the mobile device, i.e., the trajectory of the mobile device, are determined and converted to a desired motion of a robot that is remote from the mobile device. The robot is then controlled to move with the desired motion. The trajectory of the mobile device is converted to the desired motion of the robot using a transformation generated by inverting a hand-eye calibration transformation.

Abstract: Methods and apparatus for position location in a wireless network. In an aspect, a method is provided that includes determining whether a symbol to be transmitted is an active symbol, wherein the symbol comprises a plurality of subcarriers, and encoding identification information on a first portion of subcarriers if it is determined that the symbol is the active symbol. The method also includes encoding idle information on a second portion of subcarriers if it is determined that the symbol in not the active symbol. In an aspect, an apparatus includes detector logic configured to decode a plurality of symbols to determine identification information that identifies a plurality of transmitters, and to determine a plurality of channel estimate associated with the plurality of transmitters. The apparatus also includes position determination logic configured to calculate a device position based on the plurality of transmitters and the plurality of channel estimates.

Abstract: A system and method for modulation diversity uses interleaving. Code bits are placed into groups and are then shuffled within each group.

Abstract: Embodiments disclosed obtain a plurality of measurement sets from a plurality of sensors in conjunction with the capture of a sequence of exterior and interior images of a structure while traversing locations in and around the structure. Each measurement set may be associated with at least one image. An external structural envelope of the structure is determined from exterior images of the structure and the corresponding outdoor trajectory of a UE. The position and orientation of the structure and the structural envelope is determined in absolute coordinates. Further, an indoor map of the structure in absolute coordinates may be obtained based on interior images of the structure, a structural envelope in absolute coordinates, and measurements associated with the indoor trajectory of the UE during traversal of the indoor area to capture the interior images.

Abstract: Techniques are disclosed for estimating one or more parameters in a system. A device obtains measurements corresponding to a first set of features and a second set of features. The device estimates the parameters using an extended Kalman filter based on the measurements corresponding to the first set of features and the second set of features. The measurements corresponding to the first set of features are used to update the one or more parameters, and information corresponding to the first set of features. The measurements corresponding to the second set of features are used to update the parameters and uncertainty corresponding to the parameter. In on example, information corresponding to the second set of features is not updated during the estimating. Moreover, the parameters are estimated without projecting the information corresponding to the second set of features into a null-space.

Abstract: Embodiments disclosed pertain to the use of user equipment (UE) for the generation of a 3D exterior envelope of a structure based on captured images and a measurement set associated with each captured image. In some embodiments, a sequence of exterior images of a structure is captured and a corresponding measurement set comprising Inertial Measurement Unit (IMU) measurements, wireless measurements (including Global Navigation Satellite (GNSS) measurements) and/or other non-wireless sensor measurements may be obtained concurrently. A closed-loop trajectory of the UE in global coordinates may be determined and a 3D structural envelope of the structure may be obtained based on the closed loop trajectory and feature points in a subset of images selected from the sequence of exterior images of the structure.

Abstract: A Visual Inertial Tracker (VIT), such as a Simultaneous Localization And Mapping (SLAM) system based on an Extended Kalman Filter (EKF) framework (EKF-SLAM) can provide drift correction in calculations of a pose (translation and orientation) of a mobile device by obtaining location information regarding a target, obtaining an image of the target, estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, and correcting a pose determination of the mobile device using an EKF, based, at least in part, on the measurements relating to the pose of the mobile device.

Abstract: Techniques to seamlessly switch reception between multimedia programs are described. For “continued decoding”, a wireless device continues to receive, decode, decompress, and (optionally) display a current program until overhead information needed to decode the new program is received. For “early decoding”, the wireless device receives a user input and identifies a program with potential for user selection. The wireless device initiates decoding of the identified program, prior to its selection, so that the program can be decompressed and displayed earlier if it is subsequently selected. For time-compensated transmission, a base station transmits video and audio for a program in a manner to account for the difference between audio processing delay and video processing delay at the wireless device. This allows the wireless device to present the audio earlier during a program change, since its processing delay is shorter, and thus provide a faster response to the program change.

Abstract: A wireless communication apparatus in a hierarchically coded modulation system can use error control mechanisms generated during decoding of base layer information to predict a probability of successful demodulation of enhancement layer information. Performance in the demodulation of the base layer correlates to performance in the demodulation of the enhancement layer. The receiver can determine whether to attempt demodulation of temporally correlated enhancement layer data based in part on the predicted probability of success. If the receiver determines not to demodulate the enhancement layer, the receiver can power down the enhancement layer demodulator, or otherwise minimize the power expended in the enhancement layer demodulator.

Abstract: In several aspects, an electronic device and method index a repository of N documents by W words, by not storing between queries, N*W numbers that are specific to each word i and each document j, normally used to compute a score of relevance to a query, of each document j. Instead, the electronic device and method generate the N*W word-specific-document-specific numbers dynamically at query time, based on a set of W numbers corresponding to the W words, and one or more sets (e.g. x sets) of N numbers corresponding to the N documents. Query-time generation of word-specific-document-specific numbers reduces memory otherwise required, e.g. to store these numbers. Hence, in certain aspects W+xN numbers are maintained between queries, and these numbers are changed incrementally when a new document is added to the set or an existing document is removed. Maintaining W+xN numbers reduces processing otherwise required, to start from scratch.

Abstract: Embodiments include detection or relocalization of an object in a current image from a reference image, such as using a simple and relatively fast and invariant edge orientation based edge feature extraction, then a weak initial matching combined with a strong contextual filtering framework, and then a pose estimation framework based on edge segments. Embodiments include fast edge-based object detection using instant learning with a sufficiently large coverage area for object re-localization. Embodiments provide a good trade-off between computational efficiency of the extraction and matching processes.

Abstract: A mobile device determines a vision based pose using images captured by a camera and determines a sensor based pose using data from inertial sensors, such as accelerometers and gyroscopes. The vision based pose and sensor based pose are used separately in a visualization application, which displays separate graphics for the different poses. For example, the visualization application may be used to calibrate the inertial sensors, where the visualization application displays a graphic based on the vision based pose and a graphic based on the sensor based pose and prompts a user to move the mobile device in a specific direction with the displayed graphics to accelerate convergence of the calibration of the inertial sensors. Alternatively, the visualization application may be a motion based game or a photography application that displays separate graphics using the vision based pose and the sensor based pose.

Abstract: A wireless communication apparatus in a hierarchically coded modulation system can use error control mechanisms generated during decoding of base layer information to predict a probability of successful demodulation of enhancement layer information. Performance in the demodulation of the base layer correlates to performance in the demodulation of the enhancement layer. The receiver can determine whether to attempt demodulation of temporally correlated enhancement layer data based in part on the predicted probability of success. If the receiver determines not to demodulate the enhancement layer, the receiver can power down the enhancement layer demodulator, or otherwise minimize the power expended in the enhancement layer demodulator.

Abstract: Systems, apparatus and methods for estimating gravity and/or scale in a mobile device are presented. A difference between an image-based pose and an inertia-based pose is using to update the estimations of gravity and/or scale. The image-based pose is computed from two poses and is scaled with the estimation of scale prior to the difference. The inertia-based pose is computed from accelerometer measurements, which are adjusted by the estimation for gravity.

Abstract: An accelerometer located within a mobile device is used to estimate a gravity vector on a target plane in a world coordinate system. The accelerometer makes multiple measurements, each measurement being taken when the mobile device is held stationary on the target plane and a surface of the mobile device faces and is in contact with a planar portion of the target plane. An average of the measurements is calculated. A rotational transformation between an accelerometer coordinate system and a mobile device's coordinate system is retrieved from a memory in the mobile device, where the mobile device's coordinate system is aligned with the surface of the mobile device. The rotational transformation is applied to the averaged measurements to obtain an estimated gravity vector in a world coordinate system defined by the target plane.

Abstract: An accelerometer in a mobile device is calibrated by taking multiple measurements of acceleration vectors when the mobile device is held stationary at different orientations with respect to a plane normal. A circle is calculated that fits respective tips of measured acceleration vectors in the accelerometer coordinate system. The radius of the circle and the lengths of the measured acceleration vectors are used to calculate a rotation angle for aligning the accelerometer coordinate system with the mobile device surface. A gyroscope in the mobile device is calibrated by taking multiple measurements of a rotation axis when the mobile device is rotated at different rates with respect to the rotation axis. A line is calculated that fits the measurements. The angle between the line and an axis of the gyroscope coordinate system is used to align the gyroscope coordinate system with the mobile device surface.

Abstract: A system and method is described herein for solving for surface normals of objects in the scene observed in a video stream. The system and method may include sampling the video stream to generate a set of keyframes; generating hypothesis surface normals for a set of mappoints in each of the keyframes; warping patches of corresponding mappoints in a first keyframe to the viewpoint of a second keyframe with a warping matrix computed from each of the hypothesis surface normals; scoring warping errors between each hypothesis surface normal in the two keyframes; and discarding hypothesis surface normals with high warping errors between the first and second keyframes.

Abstract: Vision based tracking of a mobile device is used to remotely control a robot. For example, images captured by a mobile device, e.g., in a video stream, are used for vision based tracking of the pose of the mobile device with respect to the imaged environment. Changes in the pose of the mobile device, i.e., the trajectory of the mobile device, are determined and converted to a desired motion of a robot that is remote from the mobile device. The robot is then controlled to move with the desired motion. The trajectory of the mobile device is converted to the desired motion of the robot using a transformation generated by inverting a hand-eye calibration transformation.

Abstract: A system for storing target images for object recognition predicts a querying performance for the target image if the target image were included in a search tree of a database. The search tree has a universal search tree structure that is fixed so that it does not change with the addition of new target images. The target image is selected for inclusion or exclusion in the search tree based on the based on the querying performance, wherein the fixed tree structure of the search tree does not change if inclusion of the target image is selected.

Abstract: Techniques for multiplexing and transmitting multiple data streams are described. Transmission of the multiple data streams occurs in “super-frames”. Each super-frame has a predetermined time duration and is further divided into multiple (e.g., four) frames. Each data block for each data stream is outer encoded to generate a corresponding code block. Each code block is partitioned into multiple subblocks, and each data packet in each code block is inner encoded and modulated to generate modulation symbols for the packet. The multiple subblocks for each code block are transmitted in the multiple frames of the same super-frame, one subblock per frame. Each data stream is allocated a number of transmission units in each super-frame and is assigned specific transmission units to achieve efficient packing. A wireless device can select and receive individual data streams.