Qualcomm Incorporated

The University of Texas System

Nec Laboratories America, Inc.

Alcatel Lucent

Alcatel-lucent USA Inc.

Jubin Jose

Xinzhou Wu

Urs Niesen

Junyi Li

Vidur Bhargava

Sriram Vishwanath

Venkatesan Nallampatti Ekambaram

Sundar Subramanian

Thomas J Richardson

Lionel Jacques Garin

Libin Jiang

Shailesh Patil

Muryong Kim

Ying Wang

Lei Zhang

Mandar Narsinh Kulkarni

Kapil Gulati

Sudhir Kumar Baghel

Assaf Touboul

Sampath Rangarajan

Anantharaman Balasubramanian

Narayan Prasad

Chang-Sik Choi

Alexei Ashikhmin

Bo Tan

Hong Cheng

Mohammad Ali Khojastepour

Ahmed Kamel Sadek

Chong Li

Georgios Tsirtsis

Thomas L Marzetta

Kai Shi

Philip Alfred Whiting

Honghai Zhang

Sanjay Shakkottai

Luca Venturino

Tianheng Wang

Vasuki Narasimha Swamy

Techniques and systems are provided for localization of an apparatus. For instance, a process can include: obtaining a map of an environment, the map including a map point representing an object in the environment; obtaining image data including the object in the environment, wherein the image data is associated with a camera pose; obtaining point information from the obtained image data, the obtained point information describing two or more points of the object in the obtained image data; determining whether to associate the point information with the map point based, at least in part, on a comparison of the map point and an estimated point, wherein the estimated point is estimated based on the camera pose and point information; and based on the determination to associate the point information with the map point, associating the point information with the map point to localize an apparatus.

Object aided localization without complete object information

Systems, methods, and devices for radio frequency (RF) ranging-aided localization and crowdsourced mapping are provided. In one aspect, a method performed by a user equipment (UE) includes obtaining sensor data comprising first radio frequency (RF) ranging data and imaging data. The method further includes tagging the first RF ranging data with location information and semantic information, wherein the semantic information is based on the imaging data, and wherein the semantic information indicates a first portion of the RF ranging data is associated with a static object type and a second portion of the RF ranging data is associated with a temporary-static object type different from the static object type. The method further includes transmitting, to a RF ranging assistance server, the first RF ranging data tagged with the location information and the semantic information.

Systems and methods for radio frequency (RF) ranging-aided localization and map generation

A hybrid cellular and non-cellular multi-hop communication device, including a hand-held wireless device having one or more antennas, a cellular wireless interface connected to at least some of the one or more antennas, and a non-cellular wireless interface connected to at least some of the one or more antennas. The non-cellular wireless interface may include a rate allocator configured to select a physical-layer rate of transmission of data from the non-cellular wireless interface based on a queue length of data to be transmitted from the hand-held cellular device and a transmitter configured to wirelessly transmit data from the queue and adjust physical-layer transmission parameters based on a physical-layer rate selected by the rate allocator.

Methods and apparatuses for relaying data in wireless networks

Creating and updating an accurate radar map layer for HD map using crowdsourcing may comprise a vehicle obtaining radar data and filtering the radar data on a frame-by-frame basis. In some embodiments, additional filtering may be made on a batch of frames. The vehicle can then transmit the filtered radar data responsive to a determination that a confidence of a position estimate of the vehicle exceeds a conference threshold level and/or a determination that a reliance of the position estimate of the vehicle on the radar data exceeds a reliance threshold level.

Radar map layer in a crowdsourced HD map

A method, system, or computer program product to enhance the performance of multi-hop cellular networks or other wireless networks is provided. A wireless device (e.g., cellular telephone) is able to communicate with a base-station in a cell of the cellular network over a non-cellular interface via another wireless device in the cell through the use of multi-hopping. By enabling wireless devices to communicate with a base station in such a manner, the effective coverage area of the cellular network is expanded and the effective capacity of the cellular network is improved. Distributed routing, device management, adaptive scheduling, and distributed algorithms can be used to enhance the overall performance of multi-hop cellular networks.

Network routing system, method, and computer program product

Techniques provided herein are directed toward virtually extending an updated set of output positions of a mobile device determined by a VIO by combining a current set of VIO output positions with one or more previous sets of VIO output positions in such a way that ensure all outputs positions among the various combined sets of output positions are consistent. The combined sets can be used for accurate position determination of the mobile device. Moreover, the position determination further may be based on GNSS measurements.

Position-window extension for GNSS and visual-inertial-odometry (VIO) fusion

A user equipment (UE) in a vehicle (V-UE) broadcasts multi-phased ranging signals with which other entities may determine the range to the V-UE. The multi-phased ranging signals may include a first message, which may be broadcast in the Intelligent Transport System (ITS) spectrum, includes ranging information, such as a source identifier, location information for the broadcasting V-UE, and an expected time of broadcast of the ranging signal. The ranging signal may then be broadcast at the expected time and may include the source identifier. A second message, which be broadcast in the ITS spectrum, may include clock error information for the V-UE. A receiving entity may determine the range to the V-UE based on the time of arrival of the ranging signal and the expected time of transmission, as well as the clock error information. The receiving entity may further generate a position estimate based on the received location information.

Sidelink positioning based on physical ranging signals

In an embodiment, a user equipment (UE) receives, from a fixed reference node, at least one round-trip propagation time (RTT) ranging scheduling message indicating a set of downlink (DL) ranging resource assignments and a set of uplink (UL) ranging resource grants, receives one or more DL ranging signals from the fixed reference node on a first set of resources identified by the set of DL ranging resource assignments, and transmits one or more UL ranging signals to the fixed reference node on a second set of resources identified by the set of UL ranging resource grants.

Ranging between a user equipment and a fixed reference node

Association algorithms of newly-detected lane boundaries to lane boundaries can be made more robust through the use of generated or 'dummy' states. Different types of dummy states can be used to identify outlier/erroneous detections and/or new, legitimate lane boundaries. Therefore, depending on a type of dummy state a newly-detected lane boundary is associated with, the newly-detected lane boundary can be ignored, or the associated dummy state can be added to the lane boundary states of the filter.

Robust lane-boundary association for road map generation

Methods, apparatuses, and computer-readable media are described. In one example, a method of controlling a vehicle comprises: receiving, using one or more sensors, a first set of measurements of a set of physical attributes of the vehicle in a motion; determining, based on a motion data model that defines a set of relationships among the set of physical attributes of the vehicle in the motion and based on the first set of measurements, a set of expected measurements of the set of physical attributes; determining whether to use an entirety of the first set of measurements to control an operation of the vehicle based on comparing the first set of measurements and the set of expected measurements; and responsive to determining not to use the entirety of the first set of measurements, controlling the operation of the vehicle based on a second set of measurements.

Vehicle operation based on vehicular measurement data processing

Methods, systems, and devices for wireless communication are described. A wireless device may identify a configuration for transmitting ranging signals in a vehicle-based communication system. The configuration may identify a plurality of channels to be used for the ranging signals and timing for the ranging signals. The wireless device may transmit the configuration to a receiver and transmit ranging signals based at least in part on the configuration. The receiver may use the ranging signals to determine a distance between the receiver and the wireless device. The receiver may use the determined distance to update positioning information or operate a motor vehicle.

Configuring multi-channel transmission for ranging accuracy

To make error correction in a position estimate of a vehicle, visual lane markings on the road can be matched with lane boundaries for the road within 3-D map data. Embodiments include obtaining a 'stripe' indicative of an observed lane marking captured in a from a camera image, obtaining map data for the road on which the vehicle is located, determining the plane of the road from coordinates of lane boundaries within the map data, projecting the stripe onto the plane, and comparing the projected stripe with lane boundaries within the map data and associating the visual lane markings with the closest lane boundary. Differences between the projected stripe and the associated lane boundary can then be used for error correction in the position estimate of the vehicle.

Robust lane association by projecting 2-D image into 3-D world using map information

Growing community of inventors

Bound Brook, NJ, United States of America

Jubin Jose