公开(公告)号：US11373395B2

公开(公告)日：2022-06-28

申请号：US16845544

申请日：2020-04-10

Applicant: X Development LLC

Inventor： Dirk Holz ,  Troy Straszheim

IPC: G06V10/70 ,  G06V10/75 ,  G01C21/20 ,  G05D1/02 ,  B66F9/00 ,  B66F9/075 ,  B66F9/06 ,  G06V20/10 ,  G06V20/56 ,  G06V30/196

Abstract: Examples relate to simultaneous localization and calibration. An example implementation may involve receiving sensor data indicative of markers detected by a sensor on a vehicle located at vehicle poses within an environment, and determining a pose graph representing the vehicle poses and the markers. For instance, the pose graph may include edges associated with a cost function representing a distance measurement between matching marker detections at different vehicle poses. The distance measurement may incorporate the different vehicle poses and a sensor pose on the vehicle. The implementation may further involve determining a sensor pose transform representing the sensor pose on the vehicle that optimizes the cost function associated with the edges in the pose graph, and providing the sensor pose transform. In further examples, motion model parameters of the vehicle may be optimized as part of a graph-based system as well or instead of sensor calibration.

公开(公告)号：US20200300635A1

公开(公告)日：2020-09-24

申请号：US16890171

申请日：2020-06-02

Applicant: X Development LLC

Inventor： Dirk Holz

IPC: G01C21/26 ,  G01C21/28 ,  G01S5/16 ,  G05D1/02 ,  G01S17/87 ,  G01S7/48 ,  G05D1/00 ,  G01S17/04

Abstract: Embodiments are provided that include receiving sensor data from a sensor positioned at a plurality of positions in an environment. The environment includes a plurality of landmarks. The embodiments also include determining, based on the sensor data, a subset of the plurality of landmarks detected at each of the plurality of positions. The embodiments further include determining, based on the subset of the plurality of landmarks detected at each of the plurality of positions, a detection frequency of each landmark. The embodiments additionally include determining, based on the determined detection frequency of each landmark, a localization viability metric associated with each landmark. The embodiments still further include providing for display, via a user interface, a map of the environment. The map includes an indication of the localization viability metric associated with each landmark.

公开(公告)号：US10761541B2

公开(公告)日：2020-09-01

申请号：US15494159

申请日：2017-04-21

Applicant: X Development LLC

Inventor： Dirk Holz

IPC: G05D1/02 ,  G01C21/00 ,  G01S17/89 ,  G01C21/16 ,  G01C21/20 ,  G01S7/48 ,  G01S17/42 ,  B66F9/075 ,  G01S7/00 ,  B66F9/06 ,  G01S17/86

Abstract: Example embodiments include determining a map of an environment of a robotic vehicle. The map includes locations of a plurality of mapped landmarks within the environment and a false detection source region within the environment. The embodiments further include detecting a plurality of candidate landmarks, and determining which of the detected candidate landmarks correspond to one of the plurality of mapped landmarks and which correspond to false detections. The embodiments additionally include estimating a pose of the robotic vehicle within the environment. The embodiments further include determining which of the detected candidate landmarks determined to correspond to false detections fall within the false detection source region. The embodiments still further include determining a confidence level of the pose estimate based on which of the detected candidate landmarks determined to correspond to false detections fall within the false detection source region.

公开(公告)号：US20200103914A1

公开(公告)日：2020-04-02

申请号：US16150482

申请日：2018-10-03

Applicant: X Development LLC

Inventor： Dirk Holz ,  Elizabeth Murphy

IPC: G05D1/02 ,  G05D1/00 ,  G01C21/32

Abstract: One method disclosed includes identifying, in a map of markers fixed in an environment, two co-located markers within a threshold distance of each other, where each of the two co-located markers has a non-overlapping visibility region. The method further includes determining a set of detected markers based on sensor data from a robotic device. The method additionally includes identifying, from the set of detected markers, a detected marker proximate to a first marker of the two co-located markers. The method also includes enforcing a visibility constraint based on the non-overlapping visibility region of each of the two co-located markers to determine an association between the detected marker and a second marker of the two co-located markers. The method further includes determining a location of the robotic device in the environment relative to the map based on the determined association.

公开(公告)号：US10222215B2

公开(公告)日：2019-03-05

申请号：US15494341

申请日：2017-04-21

Applicant: X Development LLC

Inventor： Dirk Holz

IPC: G06K9/00 ,  G01C21/20 ,  G06T7/33 ,  G06T7/73 ,  G01S5/16

Abstract: Example implementations relate to map generation and alignment. For instance, a computing system may receive and use sensor data indicative of positions of multiple markers positioned relative to a sensor within an environment to determine a pose of the sensor and also create a map that indicates the markers positions. The computing system may also receive and use subsequent sensor data indicative of distances from the sensor to surfaces in the environment and the determined pose of the sensor to determine an occupancy grid map that represents the surfaces within the environment. The computing system may then determine a transformation between the map of the markers and a design model of the environment that relates occupied cells in the occupancy grid map to sampled points from the design model, and provide the transformation between the map of the plurality of markers and the design model.

公开(公告)号：US11326887B2

公开(公告)日：2022-05-10

申请号：US16890171

申请日：2020-06-02

Applicant: X Development LLC

Inventor： Dirk Holz

IPC: G01C21/26 ,  G01C21/28 ,  G01S5/16 ,  G05D1/02 ,  G01S17/87 ,  G01S7/48 ,  G05D1/00 ,  G01S17/04 ,  G01C21/20

Abstract: Embodiments are provided that include receiving sensor data from a sensor positioned at a plurality of positions in an environment. The environment includes a plurality of landmarks. The embodiments also include determining, based on the sensor data, a subset of the plurality of landmarks detected at each of the plurality of positions. The embodiments further include determining, based on the subset of the plurality of landmarks detected at each of the plurality of positions, a detection frequency of each landmark. The embodiments additionally include determining, based on the determined detection frequency of each landmark, a localization viability metric associated with each landmark. The embodiments still further include providing for display, via a user interface, a map of the environment. The map includes an indication of the localization viability metric associated with each landmark.

公开(公告)号：US10962648B2

公开(公告)日：2021-03-30

申请号：US16838436

申请日：2020-04-02

Applicant: X Development LLC

Inventor： Daniel Shaffer ,  Dirk Holz

IPC: G01S17/89 ,  G01S17/06 ,  G01B11/00 ,  G05D1/02 ,  G01S17/04

Abstract: Methods and systems for detecting sensor orientation characteristics using marker-based localization are disclosed herein. In one aspect, a robotic device can: receive a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane; receive, from a sensor configured to scan a two-dimensional sensor plane, sensor data indicative of positions of the first and second markers relative to the sensor; determine measured positions of the first and second markers based on the sensor data and a current position of the sensor; determine a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; and determine, based on the difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane.

公开(公告)号：US10162058B2

公开(公告)日：2018-12-25

申请号：US15389888

申请日：2016-12-23

Applicant: X Development LLC

Inventor： Daniel Shaffer ,  Dirk Holz

IPC: G01S17/89 ,  G01S17/02 ,  G01S17/06 ,  G01B11/00 ,  G05D1/02

Abstract: Methods and systems for detecting sensor orientation characteristics using marker-based localization are disclosed herein. In one aspect, a robotic device can: receive a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane; receive, from a sensor configured to scan a two-dimensional sensor plane, sensor data indicative of positions of the first and second markers relative to the sensor; determine measured positions of the first and second markers based on the sensor data and a current position of the sensor; determine a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; and determine, based on the difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane.

公开(公告)号：US20180306589A1

公开(公告)日：2018-10-25

申请号：US15494216

申请日：2017-04-21

Applicant: X Development LLC

Inventor： Dirk Holz

IPC: G01C21/26 ,  G01C21/28

Abstract: Embodiments are provided that include receiving sensor data from a sensor positioned at a plurality of positions in an environment. The environment includes a plurality of landmarks. The embodiments also include determining, based on the sensor data, a subset of the plurality of landmarks detected at each of the plurality of positions. The embodiments further include determining, based on the subset of the plurality of landmarks detected at each of the plurality of positions, a detection frequency of each landmark. The embodiments additionally include determining, based on the determined detection frequency of each landmark, a localization viability metric associated with each landmark. The embodiments still further include providing for display, via a user interface, a map of the environment. The map includes an indication of the localization viability metric associated with each landmark.

公开(公告)号：US20180306587A1

公开(公告)日：2018-10-25

申请号：US15494341

申请日：2017-04-21

Applicant: X Development LLC

Inventor： Dirk Holz

IPC: G01C21/20 ,  G06T7/33 ,  G06T7/73 ,  G01S5/16

CPC classification number: G01C21/206 ,  B66F9/063 ,  B66F9/0755 ,  B66F17/003 ,  G01S5/16 ,  G05D1/0234 ,  G05D1/0274 ,  G05D2201/0216 ,  G06T7/344 ,  G06T7/74 ,  G06T2207/30204 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: Example implementations relate to map generation and alignment. For instance, a computing system may receive and use sensor data indicative of positions of multiple markers positioned relative to a sensor within an environment to determine a pose of the sensor and also create a map that indicates the markers positions. The computing system may also receive and use subsequent sensor data indicative of distances from the sensor to surfaces in the environment and the determined pose of the sensor to determine an occupancy grid map that represents the surfaces within the environment. The computing system may then determine a transformation between the map of the markers and a design model of the environment that relates occupied cells in the occupancy grid map to sampled points from the design model, and provide the transformation between the map of the plurality of markers and the design model.