The present application relates to an atom interferometry method. The atom interferometry method releases atoms from an atom source into an interferometer region. Pulses of light are then directed at the atoms to place the atoms in different quantum states and to recombine the quantum states such that the recombined quantum states interfere with each other when the quantum states are overlapped spatially. The recombined quantum states creates a spatial fringe pattern with a phase. The spatial fringe pattern and the phase of the spatial fringe pattern are detected when the quantum states are overlapped spatially. The overlapped spatial fringe pattern is then used to measure physical quantities such as local gravity, the gravitational constant, the fine structure constant, the ratio of Planck's constant to the atomic mass, rotation of the atom interferometer, acceleration of the atom interferometer, and the like.

Various implementations disclosed herein include devices, systems, and methods for pose estimation using one point correspondence, one line correspondence, and a directional measurement. In various implementations, a device includes a non-transitory memory and one or more processors coupled with the non-transitory memory. In some implementations, a method includes obtaining an image corresponding to a physical environment. A first correspondence between a first set of pixels in the image and a spatial point in the physical environment is determined. A second correspondence between a second set of pixels in the image and a spatial line in the physical environment is determined. Pose information is generated as a function of the first correspondence, the second correspondence, and a directional measurement.

Various implementations disclosed herein include devices, systems, and methods for pose estimation using one point correspondence, one line correspondence, and a directional measurement. In various implementations, a device includes a non-transitory memory and one or more processors coupled with the non-transitory memory. In some implementations, a method includes obtaining an image corresponding to a physical environment. A first correspondence between a first set of pixels in the image and a spatial point in the physical environment is determined. A second correspondence between a second set of pixels in the image and a spatial line in the physical environment is determined. Pose information is generated as a function of the first correspondence, the second correspondence, and a directional measurement.

The present invention describes methods, systems, and devices for utilizing high-intensity regions within atmospheres of planetary bodies to receive and harvest electricity. Such high-intensity regions are formed as a result of the combined gravitational forces affecting a given planetary body and particularly the particles within the atmosphere of that planetary body. The combined gravitational forces result in a gravitational resonant frequency which affects the atmosphere most intensely within said high-intensity regions. By determining moments of gravitational resonant frequencies based on a given location, the methods, systems, and devices described herein utilize the energy provided within the high-intensity regions during the determined moments. Harvesting and further transmitting the collected energy is also disclosed.

The present invention describes methods, systems, and devices for utilizing high-intensity regions within atmospheres of planetary bodies to receive and harvest electricity. Such high-intensity regions are formed as a result of the combined gravitational forces affecting a given planetary body and particularly the particles within the atmosphere of that planetary body. The combined gravitational forces result in a gravitational resonant frequency which affects the atmosphere most intensely within said high-intensity regions. By determining moments of gravitational resonant frequencies based on a given location, the methods, systems, and devices described herein utilize the energy provided within the high-intensity regions during the determined moments. Harvesting and further transmitting the collected energy is also disclosed.

A gravimeter or inertial sensor system and method of operating such a system is provided. The system comprises a variable frequency signal source (100, 101, 102) configured to provide first and second signals, a resonant sensor (103) connected to receive the first signal, a phase comparator (111) connected to the output of the resonant sensor and to receive the second signal, and a controller (114) connected to the phase comparator. In a first mode, the controller controls the desired frequency of the signals from the variable frequency signal source based on a value of the phase comparator output signal to lock the frequency of the input signals to a resonant frequency of the resonant sensor. In a second mode, the controller disconnects from the variable frequency signal source and records an open loop output signal indicative of the physical parameter to be measured based on the response of the resonant sensor.

The present application relates to an atom interferometry method. The atom interferometry method releases atoms from an atom source into an interferometer region. Pulses of light are then directed at the atoms to place the atoms in different quantum states and to recombine the quantum states such that the recombined quantum states interfere with each other when the quantum states are overlapped spatially. The recombined quantum states creates a spatial fringe pattern with a phase. The spatial fringe pattern and the phase of the spatial fringe pattern are detected when the quantum states are overlapped spatially. The overlapped spatial fringe pattern is then used to measure physical quantities such as local gravity, the gravitational constant, the fine structure constant, the ratio of Planck's constant to the atomic mass, rotation of the atom interferometer, acceleration of the atom interferometer, and the like.

Provided are apparatus and methods for generating a representation of a physical environment, comprising: a mobile sensor platform (MSP) including sensors that output sensor signals relating to parameters such as range, gravity, direction of the Earth's magnetic field, and angular velocity. The MSP is adapted to be moved through the environment. The sensor signals are processed and observations of axes in the environment are generated for a sequence of time steps, the orientation of the MSP is estimated for each of the time steps, observed axes are identified at each orientation, and similar axes are associated. The orientations, the axes in the environment, and the directions of gravity and the Earth's magnetic field are linked such that each observation is predicted based on the estimates of the orientations. An estimate of the orientations is optimized and an output of the representation of the physical environment is generated based on the optimized orientation estimates. The output may be an axis map, a visual representation, and/or a data set. In one embodiment the output device may produce an output comprising a stereonet.

Provided are apparatus and methods for generating a representation of a physical environment, comprising: a mobile sensor platform (MSP) including sensors that output sensor signals relating to parameters such as range, gravity, direction of the Earth's magnetic field, and angular velocity. The MSP is adapted to be moved through the environment. The sensor signals are processed and observations of axes in the environment are generated for a sequence of time steps, the orientation of the MSP is estimated for each of the time steps, observed axes are identified at each orientation, and similar axes are associated. The orientations, the axes in the environment, and the directions of gravity and the Earth's magnetic field are linked such that each observation is predicted based on the estimates of the orientations. An estimate of the orientations is optimized and an output of the representation of the physical environment is generated based on the optimized orientation estimates. The output may be an axis map, a visual representation, and/or a data set. In one embodiment the output device may produce an output comprising a stereonet.

Various implementations disclosed herein include devices, systems, and methods for normal estimation using a directional measurement, such as a gravity vector. In various implementations, a device includes a non-transitory memory and one or more processors coupled with the non-transitory memory. In some implementations, a method includes identifying planar surfaces in an environment represented by an image. Each planar surface is associated with a respective orientation. A directional vector associated with the environment is determined. A subset of the planar surfaces that have a threshold orientation relative to the directional vector is identified. For each planar surface in the subset of the planar surfaces, a normal vector for the planar surface is determined based on the orientation of the planar surface and the directional vector.