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    RANGING-AIDED ROBOT NAVIGATION USING RANGING NODES AT UNKNOWN LOCATIONS
    4.
    发明申请
    RANGING-AIDED ROBOT NAVIGATION USING RANGING NODES AT UNKNOWN LOCATIONS 有权

    公开(公告)号：US20220299592A1

    公开(公告)日：2022-09-22

    申请号：US17695784

    申请日：2022-03-15

    Applicant: SRI International

    Inventor： Han-Pang Chiu ,  Abhinav Rajvanshi ,  Alex Krasner ,  Mikhail Sizintsev ,  Glenn A. Murray ,  Supun Samarasekera

    IPC: G01S5/02 ,  G01S5/00 ,  G01S13/42 ,  G01S13/86 ,  G05D1/02

    Abstract: A method, apparatus and system for determining change in pose of a mobile device include determining from first ranging information received at a first and a second receiver on the mobile device from a stationary node during a first time instance, a distance from the stationary node to the first receiver and the second receiver, determining from second ranging information received at the first receiver and the second receiver from the stationary node during a second time instance, a distance from the stationary node to the first receiver and second receiver, and determining from the determined distances during the first time instance and the second time instance, how far and in which direction the first receiver and the second receiver moved between the first time instance and the second time instance to determine a change in pose of the mobile device, where a position of the stationary node is unknown.

    Computer aided inspection system and methods
    5.
    发明授权
    Computer aided inspection system and methods 有权

    公开(公告)号：US11270426B2

    公开(公告)日：2022-03-08

    申请号：US16412067

    申请日：2019-05-14

    Applicant: SRI International

    Inventor： Garbis Salgian ,  Bogdan C. Matei ,  Taragay Oskiper ,  Mikhail Sizintsev ,  Rakesh Kumar ,  Supun Samarasekera

    IPC: G06K9/00 ,  G06T7/00 ,  G02B27/01 ,  G01B11/02

    Abstract: Computer aided inspection systems (CAIS) and method for inspection, error analysis and comparison of structures are presented herein. In some embodiments, a CAIS may include a SLAM system configured to determine real-world global localization information of a user in relation to a structure being inspected using information obtained from a first sensor package, a model alignment system configured to: use the determined global localization information to index into a corresponding location in a 3D computer model of the structure being inspected; and align observations and/or information obtained from the first sensor package to the local area of the model 3D computer model of the structure extracted; a second sensor package configured to obtain fine level measurements of the structure; and a model recognition system configured to compare the fine level measurements and information obtained about the structure from the second sensor package to the 3D computer model.

    Augmented reality vision system for tracking and geolocating objects of interest
    6.
    发明授权
    Augmented reality vision system for tracking and geolocating objects of interest 有权
    增强现实视觉系统，用于跟踪和定位感兴趣的对象

    公开(公告)号：US09495783B1

    公开(公告)日：2016-11-15

    申请号：US13916702

    申请日：2013-06-13

    Applicant: SRI INTERNATIONAL

    Inventor： Supun Samarasekera ,  Taragay Oskiper ,  Rakesh Kumar ,  Mikhail Sizintsev ,  Vlad Branzoi

    IPC: G09G5/00 ,  G06T11/60 ,  G06T19/00 ,  G06T7/00

    CPC classification number: G06T11/00 ,  G06K9/00671 ,  G06K9/2054 ,  G06K9/209 ,  G06T7/246 ,  G06T11/60 ,  G06T19/006 ,  G06T2207/10021 ,  G06T2207/20081 ,  G06T2207/30184 ,  H04N5/2258

    Abstract: Methods and apparatuses for tracking objects comprise one or more optical sensors for capturing one or more images of a scene, wherein the one or more optical sensors capture a wide field of view and corresponding narrow field of view for the one or more images of a scene, a localization module, coupled to the one or more optical sensors for determining the location of the apparatus, and determining the location of one more objects in the one or more images based on the location of the apparatus and an augmented reality module, coupled to the localization module, for enhancing a view of the scene on a display based on the determined location of the one or more objects.

    Abstract translation: 用于跟踪物体的方法和装置包括用于捕获场景的一个或多个图像的一个或多个光学传感器，其中所述一个或多个光学传感器捕获场景的一个或多个图像的宽视场和相应的窄视场 耦合到所述一个或多个光学传感器以确定所述设备的位置的定位模块，以及基于所述设备和增强现实模块的位置来确定所述一个或多个图像中的另一个对象的位置，所述定位模块耦合到 该定位模块用于基于所确定的一个或多个对象的位置来增强显示器上场景的视图。

    Collaborative navigation and mapping
    8.
    发明授权
    Collaborative navigation and mapping 有权

    公开(公告)号：US11313684B2

    公开(公告)日：2022-04-26

    申请号：US16089322

    申请日：2017-03-28

    Applicant: SRI INTERNATIONAL

    Inventor： Han-Pang Chiu ,  Supun Samarasekera ,  Rakesh Kumar ,  Mikhail Sizintsev ,  Xun Zhou ,  Philip Miller ,  Glenn Murray

    IPC: G01C21/32 ,  G01C21/34 ,  G06V10/75 ,  G06V20/10 ,  G06K9/62 ,  H04W4/021

    Abstract: During GPS-denied/restricted navigation, images proximate a platform device are captured using a camera, and corresponding motion measurements of the platform device are captured using an IMU device. Features of a current frame of the images captured are extracted. Extracted features are matched and feature information between consecutive frames is tracked. The extracted features are compared to previously stored, geo-referenced visual features from a plurality of platform devices. If one of the extracted features does not match a geo-referenced visual feature, a pose is determined for the platform device using IMU measurements propagated from a previous pose and relative motion information between consecutive frames, which is determined using the tracked feature information. If at least one of the extracted features matches a geo-referenced visual feature, a pose is determined for the platform device using location information associated with the matched, geo-referenced visual feature and relative motion information between consecutive frames.

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