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1. (WO2019045711) SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM) DEVICES WITH SCALE DETERMINATION AND METHODS OF OPERATING THE SAME



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INTERNATIONAL SEARCH REPORT (ISR)
Part 1:  1  2  3  4  5  6          Part 2:  A  B  C  D  E 
International application No. Applicant's or agent's file reference
PCT/US2017/049512 9342-615-WO
International filing date (day/month/year) (Earliest) Priority Date (day/month/year)
31 August 2017
Applicant
SONY MOBILE COMMUNICATIONS INC
FOR FURTHER ACTION: See Form PCT/ISA/220 as well as, where applicable, item 5 below.
This international search report has been prepared by this International Searching Authority and is transmitted to the applicant according to Article 18. A copy is being transmitted to the International Bureau.
It is also accompanied by a copy of each prior art document cited in this report.
1. Basis of the report
a. With regard to the language, the international search was carried out on the basis of:
the international application in the language in which it was filed.
a translation of the international application into                                          which is the language of a translation furnished for the purposes of international search (Rules 12.3(a) and 23.1(b)).
b.
This international search report has been established taking into account the rectification of an obvious mistake authorized by or notified to this Authority under Rule 91 (Rule 43.6bis(a)).
c.
With regard to any nucleotide and/or amino acid sequence disclosed in the international application, the international search was carried out on the basis of a sequence listing:
2. Certain claims were found unsearchable
3. Unity of invention is lacking
4. Title of the invention
The text is approved as submitted by the applicant.
The text has been established by this Authority to read as follows:
5. Abstract
The text is approved as submitted by the applicant.
The text has been established, according to Rule 38.2, by this Authority as it appears in Box No. IV. The applicant may, within one month from the date of mailing of this international search report, submit comments to this Authority.
6. Drawings
a.
The figure of the drawings to be published with the abstract is Figure No.     1    
as suggested by the applicant.
as selected by this Authority, because the applicant failed to suggest a figure.
as selected by this Authority, because this figure better characterizes the invention.
b.
none of the figures is to be published with the abstract.

A. CLASSIFICATION OF SUBJECT MATTER

     G06T 3/40 (2006.01)i; G06T 7/579 (2017.01)i
According to International Patent Classification (IPC) or to both national classification and IPC

B. FIELDS SEARCHED

Minimum documentation searched (classification system followed by classification symbols):
     G06T
Documentation searched other than minimum documentation to the extent that such documents are included in the fields searched:
Electronic data base consulted during the international search (name of data base and, where practicable, search terms used):
EPO-Internal

C. DOCUMENTS CONSIDERED TO BE RELEVANT

Category* Citation of document, with indication, where appropriate, of the relevant passages Relevant to claim No.
(1)
X
LV QIANG ET AL, "Absolute scale estimation of ORB-SLAM algorithm based on laser ranging", 2016 35TH CHINESE CONTROL CONFERENCE (CCC), TCCT,27 July 2016 (2016-07-27), page 10279-10283,
XP032953034
1,4-9,12-17,20
Y
abstract
2,3,10,11,18,19
sections: 2.1 Laser Sensor; 3 Absolute Scake Estimation; 3.2 Scale Estimation.
(2)
Y
WO 2016078728 A1 (METAIO GMBH [DE]) 26 May 2016 (2016-05-26)
2,3,10,11,18,19
abstract
page 20, line 8 - line 10
page 42, line 11 - line 17
(3)
X
US 2010259594 A1 (JOHANSSON BJORN [SE] ET AL) 14 October 2010 (2010-10-14)
1,2,9,10,17,18
abstract
paragraphs [0025], [0026]
(4)
A
EP 3182157 A1 (LEICA GEOSYSTEMS AG [CH]) 21 June 2017 (2017-06-21)
1,9,17
abstract
paragraphs [0015], [0016]
(5)
A
WO 2015090420 A1 (METAIO GMBH [DE]) 25 June 2015 (2015-06-25)
1,9,17
abstract
page 24, line 23 - line 27
*
Special categories of cited documents:
"A"
document defining the general state of the art which is not considered to be of particular relevance
"E"
earlier application or patent but published on or after the international filing date
"L"
document which may throw doubts on priority claim(s) or which is cited to establish the publication date of another citation or other special reason (as specified)
"O"
document referring to an oral disclosure, use, exhibition or other means
"P"
document published prior to the international filing date but later than the priority date claimed
"T"
later document published after the international filing date or priority date and not in conflict with the application but cited to understand the principle or theory underlying the invention
"X"
document of particular relevance; the claimed invention cannot be considered novel or cannot be considered to involve an inventive step when the document is taken alone
"Y"
document of particular relevance; the claimed invention cannot be considered to involve an inventive step when the document is combined with one or more other such documents, such combination being obvious to a person skilled in the art
"&"
document member of the same patent family

D. INFORMATION ON PATENT FAMILY MEMBERS

Patent document cited in search report Publication date
(day/month/year)
Patent family member(s) Publication date
(day/month/year)
WO 2016078728 A1
26 May 2016
CN 107004275 A
EP 3221845 A1
WO 2016078728 A1
01 August 2017
27 September 2017
26 May 2016
US 2010259594 A1
14 October 2010
EP 2417577 A1
US 2010259594 A1
WO 2010115814 A1
15 February 2012
14 October 2010
14 October 2010
EP 3182157 A1
21 June 2017
CN 106871878 A
EP 3182157 A1
US 2017169604 A1
20 June 2017
21 June 2017
15 June 2017
WO 2015090420 A1
25 June 2015
AU 2013407879 A1
CN 105849771 A
EP 3084719 A1
KR 20160088909 A
US 2016350906 A1
WO 2015090420 A1
16 June 2016
10 August 2016
26 October 2016
26 July 2016
01 December 2016
25 June 2015
Name and mailing address of the ISA/:
European Patent Office
P.B. 5818, Patentlaan 2, 2280 HV Rijswijk,
Netherlands
Telephone No. (+31-70)340-2040
Facsimile No. (+31-70)340-3016
Date of the actual completion of the international search:
24 October 2017
Date of mailing of the international search report:
30 October 2017
Authorized officer:
Rimassa, Simone
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