Nokia Corporation

Nokia Technologies Oy

Qualcomm Incorporated

Yanming Zou

Kongqiao Wang

Lei Xu

Jari T Kangas

Xiaohui Liu

Yibo Jiang

Yingfei Liu

Jiangtao Ren

Ying Liu

Xiaohui Xie

Kong Qiao Wang

Zoran Radivojevic

Yong Ma

Yi Gao

Reijo Kalervo Lehtiniemi

Roope Takala

Vuokko Tuulikki Lantz

Yongguang Guo

Jukka Rantala

Ramin Vatanparast

Yipu Gao

Xiao Zeng

Zhicheng Zhao

Anni Cai

Hao Wang

Jukka I Rantala

Roope T Takala

Various embodiments include methods for improving navigation by a processor of a robotic device. Such embodiments may include initiating a start of a predetermined time period associated with semantic information extraction, and determining whether an adverse event related to one or more sensors of the robotic device is detected. Such embodiments may also include identifying a current time slot of the predetermined time period, identifying a current estimated position and orientation of the robotic device, and recording updates to semantic information stored for the one or more sensor based on the identified current time slot and the current estimated position and orientation of the robotic device in response to determining that an adverse event related to one or more sensors of the robotic device is detected.

Systems and methods for utilizing semantic information for navigation of a robotic device

Various embodiments include processing devices and methods for relocation and reinitialization for a robotic device. Various embodiments may include concurrently relocating a second pose of the robotic device and reinitializing a third pose of the robotic device in response to failing to determine a first pose of the robotic device in the environment and determining that tracking of the robotic device is lost. Various embodiments may include pre-relocating a second pose of the robotic device in the environment in response to failing to determine the first pose of the robotic device in the environment and determining that tracking of the robotic device is lost, relocating a third pose of the robotic device in response to successfully pre-relocating the second pose of the robotic device, and reinitializing a fourth pose of the robotic device in response to unsuccessfully pre-relocating the second pose of the robotic device.

Concurrent relocation and reinitialization of VSLAM

Various embodiments include processing devices and methods for initializing an image sensor of a robotic vehicle. In some embodiments, a processor of the robotic vehicle may extract first features from a captured image of the target image, may extract second features from a predefined image pyramid of the target image, may match first features and second features, and may estimate an image sensor pose based on matched features and known dimensions of the target image. In some embodiments, the processor may estimate an image or to image sensor pose based on matched features and a translation and/or rotation of the robotic vehicle. In some embodiments, the processor may determine a coordinate system for the robotic vehicle based on one or more image sensor poses.

Image sensor initialization in a robotic vehicle

A method, apparatus and computer program product for an improved facial recognition system are provided. Some embodiments may utilize a weighted block division of an image and capture a property measurement for pixels residing within a block. The measurements may be converted to vectors, compressed, and compared against compressed vectors of enrolled images to identify a characteristic or an image of a matching subject. Training processes may be utilized in order to optimize block divisions and weights.

Method and apparatus for improved facial recognition

User input data and movement data relating to movement of a device to which the user input is made is monitored. The input data may be modified according to the movement data so that inadvertent inputs based on an unwanted tremors, bumps, or similar are accounted for. Data from an accelerometer may indicate sudden movement or bumps. The input data, such as handwriting for example, may then be modified based on the data from the accelerometer. Therefore, the device may determine the input as intended by the user.

User interface

An example apparatus is caused to receive a video sequence of a plurality of frames, and perform a number of operations as each of at least some of the frames is received but before all of the frames are received. The apparatus is caused to calculate a score for the frame, and compare the score for the frame to a predefined threshold. The apparatus is caused to cause output of the frame as a key frame in an instance in which the frame is received within a specified period of time and the score for the frame is above the predefined threshold. Otherwise, in an instance in which none of the scores for frames received within the specified period of time is above the predefined threshold, the apparatus is caused to cause output of one of the frames received within the specified period of time as a key frame.

Limited-context-based identifying key frame from video sequence

Various methods for written mathematical expression analysis are provided. One method may include receiving written input where the written input is representative of a mathematical expression. The method may also include analyzing the written input to identify at least one operator and at least one operand and constructing an expression tree based at least in part on predefined symbol relationships, the at least one operator, and the at least one operand. Similar apparatuses and computer program products are also provided.

Method, apparatus, and computer program product for written mathematical expression analysis

An apparatus () for handwriting recognition has a touch-sensitive display screen () providing a hand writing input area () capable of detecting hand-made user input. The apparatus also has a processing device () coupled to the touch-sensitive display screen and providing a user interface to a user. The handwriting input area () includes a writing start area () capable of switching between a first two-dimensional scope () and a second two-dimensional scope ('), larger than the first two-dimensional scope. The processing device () is configured to handle said handmade user input as either a logical mouse event, associated with a control operation for said user interface, or a logical pen event, associated with handwriting. User input within the writing start area when having its first two-dimensional scope is handled as a logical mouse event and causes the writing start area to switch to its second two-dimensional scope, Furthermore, user input that starts within the writing start area when having its second two-dimensional scope is handled as a logical pen event and causes interpretation of the user input () as a symbol () from a plurality of predefined symbols.

Apparatus and method for handwriting recognition

A method includes executing a gesture with a user-manipulated physical object in the vicinity of a device; generating data that is descriptive of the presence of the user-manipulated object when executing the gesture; and interpreting the data as pertaining to at least one object, such as an object displayed by the device.

Apparatus, methods and computer program products providing finger-based and hand-based gesture commands for portable electronic device applications

Mobile communication or computing devices, and methods and systems for the operation of mobile communication devices; each involving a binary code in square form which has been encoded with binary data arrayed within the square form, whereby the code in square form includes at least one border not including binary data, but including code size indication data in the form of a repetitive sequence.

Two dimensional (2D) code and code size indication method

A method for inputting characters to a mobile communication apparatus is disclosed. The method comprises the steps of: enabling input of strokes representing a first character in a first area of a touch sensitive display; determining said first character from said strokes; determining one or more candidates of characters for word association with said first character; presenting said one or more candidates on the display; and enabling selection among said one or more candidates. A mobile communication apparatus comprising means for inputting characters is also disclosed.

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Beijing, China

Yanming Zou