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21.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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公开(公告)号：AU2016213835B2
公开(公告)日：2017-11-09
申请号：AU2016213835
申请日：2016-08-11
Applicant: IROBOT CORP
Inventor： FONG PHILIP , EADE ETHAN , MUNICH MARIO E
IPC: G05D1/00
Abstract: ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA 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 overtime 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 8047063 1 (GHMtters) P98299 At J 2
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公开(公告)号：AU2017201409A1
公开(公告)日：2017-03-23
申请号：AU2017201409
申请日：2017-03-01
Applicant: IROBOT CORP
Inventor： EADE ETHAN , MUNICH MARIO E , FONG PHILIP
IPC: G08G1/123
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公开(公告)号：CA2870381C
公开(公告)日：2017-02-14
申请号：CA2870381
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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Patent Agency Ranking
公开(公告)号：CA2968561A1
公开(公告)日：2014-04-10
申请号：CA2968561
申请日：2013-09-23
Applicant: IROBOT CORP
Inventor： FONG PHILIP , EADE ETHAN , MUNICH MARIO E
IPC: G01C7/00
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：CA2935223A1
公开(公告)日：2014-04-10
申请号：CA2935223
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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公开(公告)号：CA2948519C
公开(公告)日：2019-05-28
申请号：CA2948519
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：AU2016202515B2
公开(公告)日：2017-11-16
申请号：AU2016202515
申请日：2016-04-20
Applicant: IROBOT CORP
Inventor： FONG PHILIP , EADE ETHAN , MUNICH MARIO E
IPC: G05D1/00
Abstract: ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA 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. 7648852 1 (GHMatters) P98299.AU.1
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公开(公告)号：AU2015202316B2
公开(公告)日：2017-03-30
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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