Notice of Pre-AIA or AIA Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Election
Claims 14, 15, 27, and 29 are withdrawn from further consideration pursuant to 37 CFR 1.142(b), as being drawn to a nonelected species, there being no allowable generic or linking claim. Applicant timely traversed the restriction (election) requirement in the reply filed on April 9, 2026.
Claims 13, 26, and 28 are also withdrawn from further consideration pursuant to 37 CFR 1.142(b) as being drawn to a nonelected species, there being no allowable generic or linking claim. Claims 13 and 26 are directed to artificial features, covered by non-elected specie Set 2, item c) (“projected light”). Claim 28 is explicitly directed to non-elected specie Set 2, item c) (“projected light”).
Applicant’s election with traverse in the reply filed on April 9, 2026 is acknowledged. The traversal is on the ground(s) that the various species are housed in the same device. This is not found persuasive because a UE containing multiple distinct species does not alter the analysis for whether the election requirement is needed.
Specification
The title of the invention is not descriptive. A new title is required that is clearly indicative of the invention to which the claims are directed.
The following title is suggested: Vision-Aided Positioning for Rapid Localization.
(The examiner is suggesting this change to clarify that the Rapid Localization is an output or result of the Vision-Aided Positioning, rather than the other way around.)
Claim Rejections - 35 USC § 112
The following is a quotation of 35 U.S.C. 112(b):
(b) CONCLUSION.—The specification shall conclude with one or more claims particularly pointing out and distinctly claiming the subject matter which the inventor or a joint inventor regards as the invention.
The following is a quotation of 35 U.S.C. 112 (pre-AIA ), second paragraph:
The specification shall conclude with one or more claims particularly pointing out and distinctly claiming the subject matter which the applicant regards as his invention.
Claims 1-13, 16-25 and 30 (all claims) are rejected under 35 U.S.C. 112(b) or 35 U.S.C. 112 (pre-AIA ), second paragraph, as being indefinite for failing to particularly point out and distinctly claim the subject matter which the inventor or a joint inventor (or for applications subject to pre-AIA 35 U.S.C. 112, the applicant), regards as the invention.
Claims 1, 18, 19, and 30 recite “a reference device.” However, “reference device” does not have a specific technical meaning (e.g., it does not refer to a particular class of goods), but rather refers broadly to devices that can serve as a reference for something. Here, however, the usage in context shows a more particular meaning is intended, but the term has not been clearly redefined in the specification. MPEP 2173.05(a)(III).
Claims 1 and 18 recite “the area is within a threshold distance of the UE,” but it is not clear if this means that any part of the area is within the threshold, or all of the area is within the threshold. Note that if less than all of the area needs to be within the threshold, then one would further need a definition (i.e., boundary) of the area.
Claims 1 and 18 recite “the location corresponding to the at least one visual feature.” However, “corresponding to” is subjective because different people can have different opinions as to whether or not a location corresponds to a visual feature. Further, even if the meaning were narrowed to specify that the correspondence means within a certain distance, such a distance is not specified.
Claims 1 and 18 recite estimating a position, but it is not clear if the determination of the location of the threshold distance from the UE counts as a position estimate. The concern is that the claim is directed to circular reasoning (estimating the position requires knowing what is near the UE, which means knowing where the UE is), rather than claiming a bootstrapping technique to improve the estimate (starting with a rough estimate, and then refining it to be more precise).
Claims 1, 18, 19, and 30 recite “visual feature,” but this is new terminology. MPEP 2173.05(a). In particular, does a visual feature need to be visible to, for example, a particular UE, or would anything visible count regardless of its visibility?
Claims 1, 18, 19, and 30 recite “a list,” but it is not clear if the minimum size for a list is zero items, one item, or two items (or more).
Claims 19 and 30 recite “a set of global navigation satellite system (GNSS) measurements,” but do not specify what the measurements are of (presumably the location of the reference device). Further, if the measurements are of the measurement device, that is exemplary claim language (MPEP 2173.05(d)) because the GNSS measurements of the reference device are the previously recited 6DOF information (see specification, [0144]).
Dependent claims are likewise rejected.
Claim Rejections - 35 USC § 103
In the event the determination of the status of the application as subject to AIA 35 U.S.C. 102 and 103 (or as subject to pre-AIA 35 U.S.C. 102 and 103) is incorrect, any correction of the statutory basis (i.e., changing from AIA to pre-AIA ) for the rejection will not be considered a new ground of rejection if the prior art relied upon, and the rationale supporting the rejection, would be the same under either status.
The following is a quotation of 35 U.S.C. 103 which forms the basis for all obviousness rejections set forth in this Office action:
A patent for a claimed invention may not be obtained, notwithstanding that the claimed invention is not identically disclosed as set forth in section 102, if the differences between the claimed invention and the prior art are such that the claimed invention as a whole would have been obvious before the effective filing date of the claimed invention to a person having ordinary skill in the art to which the claimed invention pertains. Patentability shall not be negated by the manner in which the invention was made.
Claims 1-12, 16-25 and 30 (all claims) are rejected under 35 U.S.C. 103 as being unpatentable over US20200124421A1 (“Kang”) in view of US20160307328A1 (“Qualcomm”).
1. An apparatus comprising:
at least one memory; (Kang, Fig. 2, memory 230)
at least one transceiver; and (Kang, Fig. 2, first sensor 211. [0055] “For example, the first sensor 211 may include an inertial sensor module and a GPS module.”)
at least one processor coupled to the at least one memory and the at least one transceiver, the at least one processor, individually or in any combination, is configured to: (Kang, Fig. 2, processor 220)
receive, from a reference device, a list of visual features and a location for each visual feature in the list of visual features; (Kang, [0058] “Here, the processor 220 calculates the error based on the second sensing data and map data received from an external device, for example, a server or stored in the memory 230.” Kang’s map data teaches the claimed list of visual features.)
identify at least one visual feature in an area via at least one camera, wherein the at least one visual feature is included in the list of visual features, wherein the area is within a threshold distance of the UE; and (Kang, [0079] “The position estimation apparatus calculates an error of the estimated position based on a difference between the map landmark and the image landmark.”)
estimate a position of the UE based on the identified at least one visual feature in the area and the location corresponding to the at least one visual feature. (Kang, [0079] “The position estimation apparatus calculates an error of the estimated position based on a difference between the map landmark and the image landmark.”)
Kang is not relied on for the below claim language.
However, Qualcomm teaches that the apparatus is for wireless communication at a user equipment (UE). (Qualcomm, abstract, “Embodiments disclosed pertain to the use of user equipment (UE)”)
It would have been obvious to one of ordinary skill in the art before the effective filing date of the claimed invention to apply the teachings of Qualcomm to the teachings of Kang such that Kang’s position estimation is used to improve Qualcomm’s position estimation (such as using Kang’s corrections with Qualcomm’s corrections and VSLAM) for the purpose of
Based on the above, this is an example of “combining prior art elements according to known methods to yield predictable results.” MPEP 2143.
2. (Original) The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: output an indication of the estimated position of the UE. (Kang, [0079] “The position estimation apparatus calculates an error of the estimated position based on a difference between the map landmark and the image landmark.”)
3. (Original) The apparatus of claim 2, wherein to output the indication of the estimated position of the UE, the at least one processor, individually or in any combination, is configured to: transmit, via the at least one transceiver, the indication of the estimated position of the UE; or
store the indication of the estimated position of the UE. (Kang, [0079] “The position estimation apparatus calculates an error of the estimated position based on a difference between the map landmark and the image landmark.”)
4. (Original) The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to: transmit, to the reference device, a request for the list of visual features prior to the reception of the list of visual features. (Qualcomm, [0068] “UE 100 may also include an LCS Client or a SUPL agent (not shown in FIG. 1) that may issue a location request to some positioning capable function such as PDM 156 within UE 100 and later receive back a location estimate for UE 100.”)
5. (Original) The apparatus of claim 1, wherein the position of the UE is at least one of: a relative position of the UE, a past position of the UE, a current position of the UE, or an estimated future position of the UE. (Kang, abstract “The apparatus estimates a position of a target vehicle based on sensing data”)
6. (Original) The apparatus of claim 1, wherein each visual feature in the list of visual features corresponds to an object in an environment, a part of the object, or a characteristic of the object. (Kang, [0019] “a landmark included in the map data”)
7. (Original) The apparatus of claim 1, wherein the reference device includes a global navigation satellite system (GNSS) module, (Kang, [0078] “The position estimation apparatus acquires an IMU signal and a GPS signal indicating an acceleration and an angular velocity of the target as sensing data.”)
at least one inertial measurement unit (IMU), and (Kang, [0078] “The position estimation apparatus acquires an IMU signal and a GPS signal indicating an acceleration and an angular velocity of the target as sensing data.”)
one or more cameras, and (Kang, Fig. 1A, cameras 180)
wherein a six degrees of freedom (6DOF) of the reference device is converged. (Qualcomm, [0040] “camera pose may be determined for 6-Degrees Of Freedom (6-DOF)”)
8. (Original) The apparatus of claim 7, wherein the at least one processor, individually or in any combination, is further configured to:
receive, from the reference device via the at least one transceiver, the 6DOF of the reference device and real-time GNSS measurements. (Kang, [0078] “The position estimation apparatus acquires an IMU signal and a GPS signal indicating an acceleration and an angular velocity of the target as sensing data.” Kang’s indicating an acceleration teaches the claimed real-time.)
9. (Original) The apparatus of claim 8, wherein to estimate the position of the UE based on the identified at least one visual feature in the area and the location corresponding to the at least one visual feature, the at least one processor, individually or in any combination, is configured to:
initiate a 6DOF estimation process for a positioning engine based on the location corresponding to the at least one visual feature, the 6DOF of the reference device, and the real- time GNSS measurements; and (Qualcomm, [0043] “SLAM techniques include Visual SLAM (VLSAM), where images captured by a camera, such as camera(s) 180 on UE 100, may be used to create a map of an environment while simultaneously tracking the camera's pose relative to that map. VSLAM may thus involve tracking the 6DOF pose of a camera while also determining the 3-D structure of the surrounding environment.” See also, [0046] “Where available, GPS coordinates may also be used to provide location information.”)
calculate the position of the UE after the positioning engine converges. (Qualcomm, [0040] “camera pose may be determined for 6-Degrees Of Freedom (6-DOF)”)
10. (Original) The apparatus of claim 8, wherein to receive the list of visual features, the location for each visual feature in the list of visual features, the 6DOF of the reference device, and the real-time GNSS measurements, the at least one processor, individually or in any combination, is configured to receive, via a broadcast message or a unicast message, the list of visual features, the location for each visual feature in the list of visual features, the 6DOF of the reference device, and the real-time GNSS measurements. (See the mappings of claims 4 and 9)
11. (Original) The apparatus of claim 1, wherein to estimate the position of the UE, the at least one processor, individually or in any combination, is configured to estimate the position of the UE based on visual-aided precise positioning (VAPP). (See the mapping of claim 9, and specification [0100] explaining that VAPP broadly covers improving the accuracy or reliability of the positioning using images from a camera.)
12. (Original) The apparatus of claim 1, wherein the location corresponding to the at least one visual feature is a function of a six degrees of freedom (6DOF) of the at least one camera. (Qualcomm, [0040] “camera pose may be determined for 6-Degrees Of Freedom (6-DOF)”)
13. (Withdrawn)
14. (Withdrawn)
15. (Withdrawn)
16. (Original) The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to:
obtain trajectory information of a set of vehicles; and (Qualcomm, [0092] “For example, UE 100 may determine its position and record measurements of signals from SVs 280 at various locations on trajectory 410.” SV stands for satellite vehicle, see [0091].)
wherein to estimate the position of the UE, the at least one processor, individually or in any combination, is configured to estimate the position of the UE further based on the trajectory information. (Qualcomm, [0046] “Where available, GPS coordinates may also be used to provide location information.”)
17. (Original) The apparatus of claim 1, wherein the at least one processor, individually or in any combination, is further configured to:
obtain information associated with global navigation satellite system (GNSS) measurement error budgets; and (Qualcomm, [0107] “Typically data received from SVs 180 may have several sources of error. For example, errors may occur due to clock drift, ionospheric delay, multipath, a lower number of visible satellites, satellite geometry, satellite elevation relative to the horizon, etc” SV stands for satellite vehicle, see [0091].)
wherein to estimate the position of the UE, the at least one processor, individually or in any combination, is configured to estimate the position of the UE further based on the information associated with the GNSS measurement error budgets. (Qualcomm, [0107] “In some embodiments, SPS receiver may include a carrier phase receiver, which may measure carrier wave related information. The carrier wave, which typically has a much higher frequency than the pseudo random noise (PRN) sequence that it carries, facilitates more accurate position determination when used in conjunction with code phase measurements and differential techniques.”)
Alternatively, claim 17 reads on Kang, [0003] “However, GPS signals may include a GPS position error of about 10 meters (m) to 100 m. Such position error may be corrected using other information.”
Claims 18-25 and 30 are rejected as per their counterpart claims. N.B., specification [0144] explains that GPS measurements are an example of six degree of freedom information of a reference device.
Claims 26-29 are withdrawn.
Conclusion
The prior art made of record and not relied upon is considered pertinent to applicant's disclosure.
US 20200217667 A1 – abstract “Techniques provide for accurately matching traffic signs observed in camera images with traffic sign data from 3D maps, which can allow for error correction in a position estimate of a vehicle based on differences in the location of the observed traffic sign and the location of the traffic sign based on 3D map data.” (Also a Qualcomm case)
WO2022031464 - Listed as an X reference in International Search Report And Written Opinion – PCT/US2024/035869 – ISA/EPO – 2025-01-07 (2304279WO)
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/DAVID ORANGE/Primary Examiner, Art Unit 2663
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