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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：CA2968561C
公开(公告)日：2018-07-31
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：CA2870175C
公开(公告)日：2017-01-03
申请号：CA2870175
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：AU2011305154B2
公开(公告)日：2015-02-05
申请号：AU2011305154
申请日：2011-09-23
Applicant: IROBOT CORP
Inventor： EADE ETHAN , MUNICH MARIO E , FONG PHILIP
IPC: G08G1/123
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.
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公开(公告)号：CA2870175A1
公开(公告)日：2013-12-12
申请号：CA2870175
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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Patent Agency Ranking
公开(公告)号：CA2935223C
公开(公告)日：2017-11-28
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：AU2016213835A1
公开(公告)日：2016-09-01
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：AU2013270671B2
公开(公告)日：2016-05-26
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：CA2948519A1
公开(公告)日：2013-12-12
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：AU2017201409B2
公开(公告)日：2018-08-09
申请号：AU2017201409
申请日：2017-03-01
Applicant: IROBOT CORP
Inventor： EADE ETHAN , MUNICH MARIO E , FONG PHILIP
IPC: G08G1/123
Abstract: 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. coo
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