公开(公告)号：AU2015202318B2

公开(公告)日：2017-03-09

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

公开(公告)号：AU2016213846B2

公开(公告)日：2017-01-05

申请号：AU2016213846

申请日：2016-08-12

Applicant: IROBOT CORP

Inventor： GOEL DHIRAJ ,  EADE ETHAN ,  FONG PHILIP ,  MUNICH MARIO E

IPC: B25J19/04 ,  A47L11/32 ,  B25J5/00

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. -36 8081319 1 (GHMltters) P98301 At J 1 c a b ---------- N-- - Cleaning Mechanism Actuator System Controller Sensor Sensor Sensor Set1 Set2 Set3 108 110 112 114 Fig. I

公开(公告)号：AU2016213846A1

公开(公告)日：2016-09-01

申请号：AU2016213846

申请日：2016-08-12

Applicant: IROBOT CORP

Inventor： GOEL DHIRAJ ,  EADE ETHAN ,  FONG PHILIP ,  MUNICH MARIO E

IPC: B25J19/04 ,  A47L11/32 ,  B25J5/00

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. -36 8081319 1 (GHMltters) P98301 At J 1 c a b ---------- N-- - Cleaning Mechanism Actuator System Controller Sensor Sensor Sensor Set1 Set2 Set3 108 110 112 114 Fig. I

公开(公告)号：AU2016202515A1

公开(公告)日：2016-05-12

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

公开(公告)号：CA2952355A1

公开(公告)日：2014-04-10

申请号：CA2952355

申请日：2013-09-23

Applicant: IROBOT CORP

Inventor： FONG PHILIP ,  EADE ETHAN ,  MUNICH MARIO E

IPC: G01C7/00 ,  B25J5/00 ,  B25J9/18 ,  B25J19/04

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.