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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11948330 B1

PDFFull Text
Date of Patent:
Apr. 02, 2024

Filed:

Aug. 19, 2021

Systems and methods for localization using surface imaging

Applicant:

Apple Inc., Cupertino, CA (US);

Inventors:

Matthew E. Last, San Jose, CA (US);

Ricardo da Silveira Cabral, Zurich, CH;

Daniel E. Potter, San Jose, CA (US);

Paul Furgale, Adliswil, CH;

Assignee:
Attorney:

Polsinelli PC

Primary Examiner:

Vu Le

Assistant Examiner:

Tracy Mangialaschi

Int. Cl.
CPC ...
G06T 7/73 (2017.01); G06F 18/22 (2023.01); G06F 18/2413 (2023.01); G06V 10/52 (2022.01); G06V 10/54 (2022.01); G06V 10/764 (2022.01); G06V 20/54 (2022.01); G06V 20/56 (2022.01); H04N 19/60 (2014.01); H04N 23/56 (2023.01);
U.S. Cl.
CPC ...
G06T 7/74 (2017.01); G06F 18/22 (2023.01); G06F 18/24133 (2023.01); G06V 10/52 (2022.01); G06V 10/54 (2022.01); G06V 10/764 (2022.01); G06V 20/54 (2022.01); G06V 20/588 (2022.01); G06T 2207/10004 (2013.01); G06T 2207/20048 (2013.01); G06T 2207/20212 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01); H04N 19/60 (2014.11); H04N 23/56 (2023.01);
Abstract

Implementations described and claimed herein provide localization systems and methods using surface imaging. In one implementation, a raw image of a target surface is captured using at least one imager. The raw image is encoded into a template using at least one transform. The template specifies a course direction and an intensity gradient at one or more spatial frequencies of a pattern of the target surface. The template is compared to a subset of reference templates selected from a gallery stored in one or more storage media. A location of the target surface is identified when the template matches a reference template in the subset.

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