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公开(公告)号：AU2015202318A1
公开(公告)日：2015-05-21
申请号：AU2015202318
申请日：2015-05-01
Applicant: IROBOT CORP
Inventor： EADE ETHAN , MUNICH MARIO E , FONG PHILIP
IPC: G08G1/123
Abstract: H:\dxl\Intrwovn\NRPortbl\DCC\DXL\7745724_I.docx-1/05/2015 A method for navigating a mobile system, the method implemented on one or more computer systems, comprising the steps of: creating landmarks in a mobile device by: finding inlier matches by camera motion and epipolar geometry; refining camera motion using inlier matches; determining if sufficient inliers exist; determining if a tolerance has been reached; adjusting a tolerance based on the determination that a tolerance has been reached; and returning inliers and camera motion as a new landmark. WO 20 12/040644 PCT/US201 11053122
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公开(公告)号：AU2015202316A1
公开(公告)日：2015-05-21
申请号：AU2015202316
申请日：2015-05-01
Applicant: IROBOT CORP
Inventor： EADE ETHAN , MUNICH MARIO E , FONG PHILIP
IPC: G08G1/123
Abstract: H:\dxl\Intrwovn\NRPortbl\DCC\DXL\7744432_I.docx-1/05/2015 A method for navigating a mobile system, the method implemented on one or more computer systems, comprising the steps of: matching landmarks in a mobile device by: retrieving features from a global database; ranking landmarks by visual similarity; selecting a plurality of candidate landmarks; for each of the plurality of candidate landmarks: retrieving features in a local database; performing pose estimation; performing bundle adjustment; and determining an observation pose and covariance; selecting the best candidate as the matching landmark. WO 20 12/040644 PCT/US201 11053122
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公开(公告)号：AU2013327774A1
公开(公告)日：2014-10-30
申请号：AU2013327774
申请日：2013-09-23
Applicant: IROBOT CORP
Inventor： FONG PHILIP , EADE ETHAN , MUNICH MARIO E
IPC: G06F19/00
Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
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公开(公告)号：AU2013270671A1
公开(公告)日：2014-10-30
申请号：AU2013270671
申请日：2013-06-07
Applicant: IROBOT CORP
Inventor： GOEL DHIRAJ , EADE ETHAN , FONG PHILIP , MUNICH MARIO E
Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.
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公开(公告)号：CA2870381A1
公开(公告)日：2014-04-10
申请号：CA2870381
申请日：2013-09-23
Applicant: IROBOT CORP
Inventor： FONG PHILIP , EADE ETHAN , MUNICH MARIO E
IPC: G06F19/00
Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
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Patent Agency Ranking
公开(公告)号：EP2839399A4
公开(公告)日：2016-06-15
申请号：EP13843954
申请日：2013-09-23
Applicant: IROBOT CORP
Inventor： FONG PHILIP , EADE ETHAN , MUNICH MARIO E
CPC classification number: G01C21/32 , G01C21/20 , G01C21/206 , G05B15/00 , G05D1/0088 , G05D1/0238 , G05D1/0246 , G05D1/0274 , G05D2201/0216 , Y10S901/00
Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
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公开(公告)号：EP2776216A4
公开(公告)日：2015-12-30
申请号：EP12848273
申请日：2012-11-09
Applicant: IROBOT CORP
Inventor： GUTMANN JENS-STEFFEN , GOEL DHIRAJ , MUNICH MARIO E , FONG PHILIP
CPC classification number: G01C21/12 , G01S17/06 , G05D1/0231 , G05D1/0234 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0207 , Y10S901/01 , Y10S901/47
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公开(公告)号：EP2619742A4
公开(公告)日：2016-10-26
申请号：EP11827663
申请日：2011-09-23
Applicant: IROBOT CORP
Inventor： EADE ETHAN , MUNICH MARIO E , FONG PHILIP
CPC classification number: G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0215 , G06F17/30061 , G06F17/30241 , G06F17/30386 , G06F17/3053 , G06K9/2054 , G06K9/6201 , G09B29/007
Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.
Abstract translation: 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可以用于机器人导航。 有利地，可以使用这种可视化技术来自主生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。 某些实施例考虑在基于SLAM的系统中对前端处理的改进。 特别地，这些实施方案中的某些设想了新颖的地标匹配过程。 这些实施例中的某些也考虑了一个新颖的地标创建过程。 某些实施例考虑在基于SLAM的系统中对后端处理的改进。 特别地，这些实施例中的某些设想了用于实时修改SLAM图的算法，以实现更有效的结构。
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19.发明公开
公开(公告)号：EP2858794A4
公开(公告)日：2016-04-20
申请号：EP13801242
申请日：2013-06-07
Applicant: IROBOT CORP
Inventor： GOEL DHIRAJ , EADE ETHAN , FONG PHILIP , MUNICH MARIO E
CPC classification number: B25J9/1697 , B25J5/007 , B25J9/1628 , B25J9/1664 , B25J11/0085 , G05D1/0253 , G05D1/0268 , G05D1/027 , G05D1/0272 , G05D2201/0203 , G05D2201/0215 , Y10S901/01
Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.
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公开(公告)号：CA2952355C
公开(公告)日：2017-11-28
申请号：CA2952355
申请日：2013-09-23
Applicant: IROBOT CORP
Inventor： FONG PHILIP , EADE ETHAN , MUNICH MARIO E
Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
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