中科微点-全球专利检索

  1. Login
  2. Sign Up

Search Results

13 records (took 0.026 seconds)

    METHOD AND SYSTEM FOR ENVIRONMENT MAP GENERATION AND ALIGNMENT
    1.
    发明申请
    METHOD AND SYSTEM FOR ENVIRONMENT MAP GENERATION AND ALIGNMENT 审中-公开

    公开(公告)号：WO2018194767A1

    公开(公告)日：2018-10-25

    申请号：PCT/US2018/022385

    申请日：2018-03-14

    Applicant: X DEVELOPMENT LLC

    Inventor： HOLZ, Dirk

    IPC: G05D1/02 ,  G01C21/00 ,  B66F9/00

    Abstract: A computing system receives and uses 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 also receives and uses subsequent sensor data indicative of distances from the sensor to surfaces in the environment as well as the 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.

    METHOD AND SYSTEM FOR SIMULTANEOUS LOCALIZATION AND SENSOR CALIBRATION
    2.
    发明申请
    METHOD AND SYSTEM FOR SIMULTANEOUS LOCALIZATION AND SENSOR CALIBRATION 审中-公开

    公开(公告)号：WO2018194768A1

    公开(公告)日：2018-10-25

    申请号：PCT/US2018/022396

    申请日：2018-03-14

    Applicant: X DEVELOPMENT LLC

    Inventor： HOLZ, Dirk ,  STRASZHEIM, Troy

    IPC: G05D1/02 ,  B66F9/00 ,  G01C21/00

    Abstract: Simultaneous localization and calibration 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 further involves 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.

    METHODS AND SYSTEMS FOR DETECTING, RECOGNIZING, AND LOCALIZING PALLETS
    3.
    发明申请
    METHODS AND SYSTEMS FOR DETECTING, RECOGNIZING, AND LOCALIZING PALLETS 审中-公开

    公开(公告)号：WO2018194765A1

    公开(公告)日：2018-10-25

    申请号：PCT/US2018/022358

    申请日：2018-03-14

    Applicant: X DEVELOPMENT LLC

    Inventor： HOLZ, Dirk

    IPC: G06T7/73 ,  G06T7/13 ,  B66F9/00 ,  B25J19/02 ,  G05D1/02

    Abstract: Example implementations may relate methods and systems for detecting, recognizing, and localizing pallets. For instance, a computing system may receive sensor data representing aspects of an environment, and identify a- set of edge points in the sensor data. The computing system may finite determine a set of line segments from the set of edge points where each line segment may fit to a subset of the set of edge points. Additionally, the computing system may also filter the set of line segments to exclude line segments that have a length outside a height range and a width range associated with dimensions of a pallet template, and identify, from the filtered set of line segments, a subset Of line segments that align with the pallet template. Based on the identified subset of line segments, the computing system may determine a pose of a pallet in the environment.

    LOCALIZATION OF ROBOTIC VEHICLES
    4.
    发明申请
    LOCALIZATION OF ROBOTIC VEHICLES 审中-公开

    公开(公告)号：WO2018119404A1

    公开(公告)日：2018-06-28

    申请号：PCT/US2017/068206

    申请日：2017-12-22

    Applicant: X DEVELOPMENT LLC

    Inventor： HOLZ, Dirk

    IPC: G05D1/02 ,  G01C21/00

    Abstract: An example method includes determining locations of a plurality of candidate landmarks in relation to a robot based on sensor data from at least one sensor on the robot. The method further includes determining a plurality of sample sets, wherein each sample set comprises a subset of the plurality of candidate landmarks and a plurality of corresponding mapped landmarks. The method also includes determining a transformation for each sample set that relates the candidate landmarks from the subset to the corresponding mapped landmarks. The method additionally includes applying the determined transformation for each sample set to the plurality of candidate landmarks to determine a number of inliers associated with each sample set based on distances between the transformed plurality of candidate landmarks and a plurality of neighbouring mapped landmarks. The method further includes selecting a sample set from the plurality based on the number of inliers associated with each sample set. The method still further includes estimating a pose of the robot based on the selected sample set.

    LOCALIZATION WITH NEGATIVE MAPPING
    6.
    发明申请
    LOCALIZATION WITH NEGATIVE MAPPING 审中-公开

    公开(公告)号：WO2018194833A1

    公开(公告)日：2018-10-25

    申请号：PCT/US2018/026046

    申请日：2018-04-04

    Applicant: X DEVELOPMENT LLC

    Inventor： HOLZ, Dirk

    IPC: G01S17/89 ,  G01S17/42 ,  G05D1/02 ,  B66F9/06 ,  G01C21/20 ,  G01C21/16

    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 aid 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 farmer 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.

Patent Agency Ranking