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公开(公告)号：US12286249B2
公开(公告)日：2025-04-29
申请号：US17932893
申请日：2022-09-16
Applicant: R-Go Robotics Ltd.
Inventor： Nizan Horesh
IPC: B64U10/13 , B64U101/30 , G01C21/20
Abstract: A system and method for path navigation accuracy estimation. A method includes determining a degree of obstruction for each of a plurality of objects shown in visual content, wherein the degree of obstruction for each object represents a degree to which the object will obstruct visibility by a vehicle capturing visual content in an environment where the vehicle is navigating and the plurality of objects are disposed; determining, for each of a plurality of operational points, a co-visibility of the vehicle at the operational point based on a pose of the vehicle at the operational point and the degree of obstruction for each of the objects which is within view of the vehicle at the operational point; and estimating a visual navigation performance at each of the operational points based on the co-visibility determined for the operational point.
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公开(公告)号：US11886188B2
公开(公告)日：2024-01-30
申请号：US17344268
申请日：2021-06-10
Applicant: R-Go Robotics LTD.
Inventor： Nizan Horesh , Tal Levy , Assaf Agmon
IPC: G01C21/00 , G05D1/00 , A01D34/00 , A01D101/00
CPC classification number: G05D1/0088 , A01D34/008 , G01C21/3848 , A01D2101/00 , G05D2201/0208
Abstract: A system and method for environmental parameter mapping. A method includes adding at least one entry to a mapping data structure, wherein each entry includes a position of a robotic device and at least one corresponding environmental parameter for the respective position of the robotic device, wherein each environmental parameter of each entry indicates an attribute of an environment at the corresponding position and is based on at least one sensor signal captured at the corresponding position; and sending at least one command to the robotic device, wherein the at least one command is determined based on the mapping data structure and includes at least one command to navigate.
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公开(公告)号：US11100602B2
公开(公告)日：2021-08-24
申请号：US16750676
申请日：2020-01-23
Applicant: R-Go Robotics LTD.
Inventor： Nizan Horesh , Amir Bousani
IPC: G06T1/00 , G06T7/73 , G06F3/0488 , G06T15/10
Abstract: Systems and methods for providing geometric interactions via three-dimensional mapping. A method includes determining a plurality of first descriptors for a plurality of key points in a plurality of first images, wherein each first image shows a portion of a 3D environment in which a robotic device and a visual sensor are deployed; generating a 3D map of the 3D environment based on the plurality of key points and the plurality of descriptors; determining a pose of the visual sensor based on at least one second descriptor and the plurality of first descriptors, wherein the second image is captured by the visual sensor; and determining a target action location based on at least one user input made with respect to a display of the second image and the pose of the visual sensor, wherein the target action location is a location within the 3D environment.
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公开(公告)号：US20200160479A1
公开(公告)日：2020-05-21
申请号：US16750676
申请日：2020-01-23
Applicant: R-Go Robotics LTD.
Inventor： Nizan HORESH , Amir BOUSANI
IPC: G06T1/00 , G06T7/73 , G06T15/10 , G06F3/0488
Abstract: Systems and methods for providing geometric interactions via three-dimensional mapping. A method includes determining a plurality of first descriptors for a plurality of key points in a plurality of first images, wherein each first image shows a portion of a 3D environment in which a robotic device and a visual sensor are deployed; generating a 3D map of the 3D environment based on the plurality of key points and the plurality of descriptors; determining a pose of the visual sensor based on at least one second descriptor and the plurality of first descriptors, wherein the second image is captured by the visual sensor; and determining a target action location based on at least one user input made with respect to a display of the second image and the pose of the visual sensor, wherein the target action location is a location within the 3D environment.
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公开(公告)号：US20220084218A1
公开(公告)日：2022-03-17
申请号：US17456298
申请日：2021-11-23
Applicant: R-Go Robotics Ltd.
Inventor： Nizan HORESH , Amir BOUSANI , Assaf AGMON
IPC: G06T7/292
Abstract: Systems and methods for monitoring movements. A method includes detecting motion based on first localization data related to a localization device moving in a distinct motion pattern, wherein the first localization data is based on sensor readings captured by at least one sensor; correlating the detected motion to a known motion of the localization device based on respective times of the first localization data and of the localization device; localizing the localization device with respect to a map based on the correlation; tracking at least one first location of an object based on second localization data captured by the at least one sensor, wherein the at least one first location is on the map, wherein the tracking further comprises identifying at least one second location of the object based on the second localization data and determining the at least one first location based on the at least one second location.
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Patent Agency Ranking
公开(公告)号：US20210373567A1
公开(公告)日：2021-12-02
申请号：US17403196
申请日：2021-08-16
Applicant: R-Go Robotics LTD.
Inventor： Nizan Horesh
Abstract: Systems and methods for optimizing sensory signal capturing by reconfiguring robotic device configurations. A method includes determining at least one predicted future sensor reading for a robotic device based on navigation path data of the robotic device, wherein the robotic device is deployed with at least one sensor, wherein each predicted future sensor reading is an expected value of a future sensory signal; determining an optimized sensor configuration based on the at least one predicted future sensor reading, wherein the optimized sensor configuration optimizes capturing of sensor signals by the at least one sensor; and reconfiguring the at least one sensor based on the optimized sensor configuration, wherein reconfiguring the at least one sensor further comprises modifying at least one sensor parameter of the at least one sensor based on the optimized sensor configuration.
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公开(公告)号：US11145076B1
公开(公告)日：2021-10-12
申请号：US17231744
申请日：2021-04-15
Applicant: R-Go Robotics LTD
Inventor： Nizan Horesh , Amir Geva , Tal Levy , Noam Nisenholz , Ben Matok
Abstract: Apparatuses, methods and storage media associated with an environment recognition system using SLAM pipeline with semantic segmentation are described herein. In some instances, the system is mounted on the body of the robotic apparatus, and includes one or more light sources, to illuminate a portion of an environment that surrounds the apparatus; a camera, to capture one or more images of the illuminated portion of the environment; and a processing device coupled with the camera and the light sources, to process the captured images, using semantic segmentation of the images applied in a SLAM pipeline. The processing is used to identify a position of the body of the apparatus, and/or a position of one or more objects disposed in the illuminated portion of the environment, based at least in part on a result of the processing of the one or more images. Other embodiments may be described and claimed.
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公开(公告)号：US20200159229A1
公开(公告)日：2020-05-21
申请号：US16750703
申请日：2020-01-23
Applicant: R-Go Robotics LTD.
Inventor： Nizan HORESH , Amir BOUSANI
IPC: G05D1/02 , H04N13/189 , A01D34/00
Abstract: Techniques for controlling a robotic device in motion using image synthesis are presented. A method includes determining local motion features based on image patches included in first and second input images captured by a camera installed on the robotic device; determining a camera motion based on the local motion features, wherein the camera motion indicates a movement of the camera between capture of the first input image and capture of the second input image; determining a scene geometry based on the camera motion, wherein the scene geometry is a set of three-dimensional coordinates corresponding to two-dimensional image coordinates of the image patches; generating a single perspective synthesized image based on the camera motion and the scene geometry; detecting a change between the first and second input images based on the synthesized image; and modifying motion of the robotic device based on the detected at least one change.
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公开(公告)号：US20240094002A1
公开(公告)日：2024-03-21
申请号：US17932893
申请日：2022-09-16
Applicant: R-Go Robotics Ltd.
Inventor： Nizan HORESH
CPC classification number: G01C21/20 , B64C39/024 , B64C2201/127
Abstract: A system and method for path navigation accuracy estimation. A method includes determining a degree of obstruction for each of a plurality of objects shown in visual content, wherein the degree of obstruction for each object represents a degree to which the object will obstruct visibility by a vehicle capturing visual content in an environment where the vehicle is navigating and the plurality of objects are disposed; determining, for each of a plurality of operational points, a co-visibility of the vehicle at the operational point based on a pose of the vehicle at the operational point and the degree of obstruction for each of the objects which is within view of the vehicle at the operational point; and estimating a visual navigation performance at each of the operational points based on the co-visibility determined for the operational point.
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公开(公告)号：US20220397899A1
公开(公告)日：2022-12-15
申请号：US17344268
申请日：2021-06-10
Applicant: R-Go Robotics LTD.
Inventor： Nizan Horesh , Tal Levy , Assaf Agmon
Abstract: A system and method for environmental parameter mapping. A method includes adding at least one entry to a mapping data structure, wherein each entry includes a position of a robotic device and at least one corresponding environmental parameter for the respective position of the robotic device, wherein each environmental parameter of each entry indicates an attribute of an environment at the corresponding position and is based on at least one sensor signal captured at the corresponding position; and sending at least one command to the robotic device, wherein the at least one command is determined based on the mapping data structure and includes at least one command to navigate.
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