CN112513713B - 用于地图构建的系统和方法 - Google Patents

用于地图构建的系统和方法 Download PDF

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Publication number
CN112513713B
CN112513713B CN201980049058.6A CN201980049058A CN112513713B CN 112513713 B CN112513713 B CN 112513713B CN 201980049058 A CN201980049058 A CN 201980049058A CN 112513713 B CN112513713 B CN 112513713B
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CN112513713A (zh
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H·T·苏祖基
B·W·斯泰尔斯
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Magic Leap Inc
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Magic Leap Inc
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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/017—Head mounted
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/0304—Detection arrangements using opto-electronic means
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/017—Head mounted
    • G02B27/0172—Head mounted characterised by optical features
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/23—Updating
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/012—Head tracking input arrangements
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—Three-dimensional [3D] image rendering
    • G06T15/10—Geometric effects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
    • G06T19/006—Mixed reality
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/56—Particle system, point based geometry or rendering

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Graphics (AREA)
  • Software Systems (AREA)
  • Computer Hardware Design (AREA)
  • Human Computer Interaction (AREA)
  • Databases & Information Systems (AREA)
  • Geometry (AREA)
  • Optics & Photonics (AREA)
  • Data Mining & Analysis (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Processing Or Creating Images (AREA)
  • Image Analysis (AREA)
  • User Interface Of Digital Computer (AREA)
CN201980049058.6A 2018-07-23 2019-07-23 用于地图构建的系统和方法 Active CN112513713B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210699679.2A CN115097627B (zh) 2018-07-23 2019-07-23 用于地图构建的系统和方法

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201862702322P 2018-07-23 2018-07-23
US62/702,322 2018-07-23
PCT/US2019/042936 WO2020023446A1 (en) 2018-07-23 2019-07-23 System and method for mapping

Related Child Applications (1)

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CN202210699679.2A Division CN115097627B (zh) 2018-07-23 2019-07-23 用于地图构建的系统和方法

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CN112513713A CN112513713A (zh) 2021-03-16
CN112513713B true CN112513713B (zh) 2022-07-15

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US (3) US11145127B2 (https=)
EP (1) EP3827301B1 (https=)
JP (3) JP7319350B2 (https=)
CN (2) CN112513713B (https=)
WO (1) WO2020023446A1 (https=)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112513713B (zh) 2018-07-23 2022-07-15 奇跃公司 用于地图构建的系统和方法
WO2022016320A1 (zh) * 2020-07-20 2022-01-27 深圳元戎启行科技有限公司 地图更新方法、装置、计算机设备和存储介质
US12147613B2 (en) 2021-12-06 2024-11-19 Htc Corporation Control method, virtual reality system, and non-transitory computer readable storage medium with map of head-mounted device
US12229899B2 (en) * 2021-12-06 2025-02-18 Htc Corporation Tracking device, head-mounted display device, and virtual reality system
US12085407B2 (en) * 2022-05-12 2024-09-10 Microsoft Technology Licensing, Llc. Updating a 3D map of an environment
CN114840627B (zh) * 2022-05-24 2023-03-21 中国电建集团成都勘测设计研究院有限公司 基于gis+图数据库的城市地下综合管网连通性分析方法
DE102022133913A1 (de) * 2022-12-19 2024-06-20 Wirtgen Gmbh Selbstfahrende Baumaschine, insbesondere Straßenfräsmaschine oder Straßenfertiger, zur Bearbeitung des Bodens oder Errichtung eines Bauwerks auf dem Boden und Verfahren zur Bearbeitung des Bodens oder Errichtung eines Bauwerks auf dem Boden mit einer selbstfahrenden Baumaschine

Citations (2)

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CN105143821A (zh) * 2013-04-30 2015-12-09 高通股份有限公司 依据slam地图的广域定位
WO2018027206A1 (en) * 2016-08-04 2018-02-08 Reification Inc. Methods for simultaneous localization and mapping (slam) and related apparatus and systems

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US1029533A (en) 1911-02-25 1912-06-11 State Of Minnesota Pitman connection for harvesting-machines.
US10262462B2 (en) 2014-04-18 2019-04-16 Magic Leap, Inc. Systems and methods for augmented and virtual reality
US10295338B2 (en) 2013-07-12 2019-05-21 Magic Leap, Inc. Method and system for generating map data from an image
CA2888943C (en) * 2013-10-03 2015-08-18 Sulon Technologies Inc. Augmented reality system and method for positioning and mapping
CN107272199B (zh) 2013-11-27 2023-04-07 奇跃公司 虚拟和增强现实系统与方法
US10203762B2 (en) * 2014-03-11 2019-02-12 Magic Leap, Inc. Methods and systems for creating virtual and augmented reality
AU2015274283B2 (en) * 2014-06-14 2020-09-10 Magic Leap, Inc. Methods and systems for creating virtual and augmented reality
US9599821B2 (en) 2014-08-08 2017-03-21 Greg Van Curen Virtual reality system allowing immersion in virtual space to consist with actual movement in actual space
US9852547B2 (en) * 2015-03-23 2017-12-26 International Business Machines Corporation Path visualization for augmented reality display device based on received data and probabilistic analysis
JP6584208B2 (ja) * 2015-08-07 2019-10-02 キヤノン株式会社 情報処理装置、情報処理方法、プログラム
JP6556015B2 (ja) * 2015-10-09 2019-08-07 ソニー株式会社 情報処理装置、位置および／または姿勢の推定方法、およびコンピュータプログラム
WO2018071416A1 (en) 2016-10-11 2018-04-19 Kaarta, Inc. Laser scanner with real-time, online ego-motion estimation
JP2018055167A (ja) 2016-09-26 2018-04-05 カシオ計算機株式会社 自律移動装置、自律移動方法及びプログラム
CN107016924B (zh) * 2016-12-20 2020-04-07 阿里巴巴集团控股有限公司 虚拟地图中的瓦片地图生成方法、更新方法和装置
CN106875482B (zh) * 2017-01-13 2020-04-28 浙江大学 一种同时定位与稠密三维重建方法
CN106846467B (zh) * 2017-01-23 2020-05-05 阿依瓦（北京）技术有限公司 基于每个相机位置优化的实体场景建模方法和系统
KR102330829B1 (ko) * 2017-03-27 2021-11-24 삼성전자주식회사 전자 장치에서 증강현실 기능 제공 방법 및 장치
CN112513713B (zh) * 2018-07-23 2022-07-15 奇跃公司 用于地图构建的系统和方法

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CN105143821A (zh) * 2013-04-30 2015-12-09 高通股份有限公司 依据slam地图的广域定位
WO2018027206A1 (en) * 2016-08-04 2018-02-08 Reification Inc. Methods for simultaneous localization and mapping (slam) and related apparatus and systems

Also Published As

Publication number Publication date
EP3827301A1 (en) 2021-06-02
JP2024102192A (ja) 2024-07-30
CN112513713A (zh) 2021-03-16
EP3827301A4 (en) 2021-08-04
WO2020023446A1 (en) 2020-01-30
JP2023133394A (ja) 2023-09-22
US11145127B2 (en) 2021-10-12
JP7319350B2 (ja) 2023-08-01
US12437485B2 (en) 2025-10-07
US20230252741A1 (en) 2023-08-10
US20200027274A1 (en) 2020-01-23
JP2021530812A (ja) 2021-11-11
US20210407207A1 (en) 2021-12-30
CN115097627A (zh) 2022-09-23
CN115097627B (zh) 2024-11-15
JP7745035B2 (ja) 2025-09-26
US11651569B2 (en) 2023-05-16
EP3827301B1 (en) 2025-11-12
JP7483106B2 (ja) 2024-05-14

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