Google Inc.

Graphics Properties Holdings, Inc.

Charles C Rhodes

Randall Wilson

Babak Amirparviz

Andrew Robert Kirmse

Stephen David Zelinka

Harvey Ho

Yong Koo Hwang

A method is provided for calibrating an inertial sensing unit of a device utilizing a vision sensing unit integral to the device. The method includes receiving inertial sensing input data from the inertial sensing unit, receiving vision sensing input data from the vision unit, and determining when the received vision sensing input data represents a predetermined input state of the vision sensing unit. The method includes estimating an error value in the inertial sensing input data received from the inertial sensing unit based on the received vision sensing input data upon determination that the received vision sensing input data represents the predetermined vision sensing input state. The method further includes adjusting first subsequent received inertial sensing input data from the inertial sensing unit based on the estimated error value, thereby calibrating the inertial sensing unit.

Calibrating intertial sensors using an image sensor

Embodiments of this invention relates to orthorectifying oblique imagery to a nadir view. In an embodiment, a method orthorectifies oblique photographic imagery. An oblique photographic image is projected onto a three-dimensional model of terrain. Points are sampled from the projected photographic image at the intersection of the three-dimensional model of terrain and parallel rays extended from a virtual viewport having a nadir perspective. The sampled points are assembled into an orthorectified image. Finally, the orthorectified image or the sampled points are adjusted approximately according to a difference in tilt angle between a camera that captured the oblique photographic image and the viewport having the nadir perspective to generate a foreshortened orthorectified image. Each location in the foreshortened orthorectified image corresponds linearly to a corresponding location in a two-dimensional map.

Orthorectifying stitched oblique imagery to a nadir view, and applications thereof

Disclosed are embodiments for methods and devices for displaying images. In some example embodiments, methods may include receiving data corresponding to an image. The image data may include at least one image object. Each image object may be assigned to either a foreground image set or a background image set. An embodiment may also include rendering a first display image based on at least the foreground image set. The first display image may include the objects assigned to the foreground image set. Additionally, the objects assigned to the foreground image set may be in focus in the first display image. Embodiments may also include rendering a second display image based on at least the background image set. The second display image may include the objects assigned to the background image set. Additionally, the objects assigned to the background image set may be in focus in the second display image.

Displaying objects on separate eye displays

The present disclosure describes systems and methods for transmitting, receiving, and displaying data. The systems and methods may be directed to providing a constant or substantially constant data transmission rate (e.g., frame rate per second) to a device and controlling bandwidth by presenting information directed to an area of interest to a user. Bandwidth can be lowered, for example by presenting high resolution data directed to the area of interest to the user (e.g., an area to which the user is looking or 'gazing' using a heads-up display), and lower resolution data directed to other areas. Data can be transmitted and received at a constant frame rate or substantially constant frame rate, and gaze direction and progressive compression/decompression techniques can be used to transmit data focused on areas directed to an area of interest to the user.

Systems and methods for adaptive transmission of data

A method for reducing building lean in stitched images includes accessing overlapping images of a geographic area, and calculating a pixel preference cost for each pixel region of a plurality of pixel regions in each image based on a location of the respective pixel region in a three-dimensional projection of each image. The method also includes selecting a pixel region from the images for each of a plurality of pixel region positions in the geographic area by reducing a cost function that includes the pixel preference cost, and assigning the respective selected pixel region to each of the pixel region positions to create the stitched image containing the building with reduced lean. In another embodiment, the pixel preference cost includes a distance from center cost that is based on a distance to the respective pixel region from the center of the image. Corresponding systems and computer readable media are also disclosed.

Reducing building lean in stitched images

Disclosed are embodiments for methods and devices for displaying images. In some example embodiments, methods may include receiving data corresponding to an image with a processor. The image data may include at least one image object. In additional example embodiments, each image object may be assigned to either a foreground image set or a background image set using a processor, for example. An example embodiment may also include rendering a first display image based on at least the foreground image set. The first display image may include the objects assigned to the foreground image set. Additionally, the objects assigned to the foreground image set may be in focus in the first display image. Embodiments may also include rendering a second display image based on at least the background image set. The second display image may include the objects assigned to the background image set. Additionally, the objects assigned to the background image set may be in focus in the second display image.

Processing objects for separate eye displays

An oblique photographic image is projected onto a three-dimensional model of terrain. Points are sampled from the projected photographic image at the intersection of the three-dimensional model of terrain and parallel rays extended from a virtual viewport having a nadir perspective. The sampled points are assembled into an orthorectified image. Finally, the orthorectified image or the sampled points are adjusted approximately according to a difference in tilt angle between a camera that captured the oblique photographic image and the viewport having the nadir perspective to generate a foreshortened orthorectified image. Each location in the foreshortened orthorectified image corresponds linearly to a corresponding location in a two-dimensional map.

Methods and apparatus for generating composite images for displays are provided. For some embodiments, ray tracing algorithms may be utilized to efficiently generate a composite image corresponding to multiple views. Because ray tracing is done on a per pixel basis, it is possible to generate pixel values for only those pixels that will be allocated to a particular image view. By tracing rays from a viewpoint only through those pixels allocated to displaying images corresponding to that viewpoint, a composite image may be generated without discarding pixel data.

Growing community of inventors

Los Altos, CA, United States of America

Charles C Rhodes