公开(公告)号：US20080294288A1

公开(公告)日：2008-11-27

申请号：US12186502

申请日：2008-08-05

Applicant: Brian YAMAUCHI

Inventor： Brian YAMAUCHI

IPC: G06F17/00

CPC classification number: G05D1/024 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0088 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: A mobile robot is equipped with a range finder and a stereo vision system. The mobile robot is capable of autonomously navigating through urban terrain, generating a map based on data from the range finder and transmitting the map to the operator, as part of several reconnaissance operations selectable by the operator. The mobile robot employs a Hough transform technique to identify linear features in its environment, and then aligns itself with the identified linear features in order to navigate through the urban terrain; while at the same time, a scaled vector field histogram technique is applied to the combination of range finder and stereo vision data to detect and avoid obstacles the mobile robot encounters when navigating autonomously. Also, the missions performed by the mobile robot may include limitation parameters based on distance or time elapsed, to ensure completion of the autonomous operations.

Abstract translation: 移动机器人配备了测距仪和立体视觉系统。 移动机器人能够自主地通过城市地形导航，基于来自测距仪的数据生成地图，并将地图发送给操作员，作为操作者可选择的几个侦察操作的一部分。 移动机器人使用霍夫变换技术来识别其环境中的线性特征，然后将其与所识别的线性特征对齐，以便在城市地形中导航; 同时，将尺度矢量场直方图技术应用于测距仪和立体视觉数据的组合，以检测和避免移动机器人自主航行时遇到的障碍物。 此外，由移动机器人执行的任务可以包括基于距离或经过的时间的限制参数，以确保完成自主操作。

公开(公告)号：US20070156286A1

公开(公告)日：2007-07-05

申请号：US11618742

申请日：2006-12-30

Applicant: Brian YAMAUCHI

Inventor： Brian YAMAUCHI

IPC: G06F19/00

CPC classification number: G05D1/024 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0088 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: A mobile robot is equipped with a range finder and a stereo vision system. The mobile robot is capable of autonomously navigating through urban terrain, generating a map based on data from the range finder and transmitting the map to the operator, as part of several reconnaissance operations selectable by the operator. The mobile robot employs a Hough transform technique to identify linear features in its environment, and then aligns itself with the identified linear features in order to navigate through the urban terrain; while at the same time, a scaled vector field histogram technique is applied to the combination of range finder and stereo vision data to detect and avoid obstacles the mobile robot encounters when navigating autonomously. Also, the missions performed by the mobile robot may include limitation parameters based on distance or time elapsed, to ensure completion of the autonomous operations.

Abstract translation: 移动机器人配备了测距仪和立体视觉系统。 移动机器人能够自主地通过城市地形导航，基于来自测距仪的数据生成地图，并将地图发送给操作员，作为操作者可选择的几个侦察操作的一部分。 移动机器人使用霍夫变换技术来识别其环境中的线性特征，然后将其与所识别的线性特征对齐，以便在城市地形中导航; 同时，将尺度矢量场直方图技术应用于测距仪和立体视觉数据的组合，以检测和避免移动机器人自主航行时遇到的障碍物。 此外，由移动机器人执行的任务可以包括基于距离或经过的时间的限制参数，以确保完成自主操作。