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    SYSTEMS AND METHODS FOR VSLAM OPTIMIZATION
    1.
    发明授权
    SYSTEMS AND METHODS FOR VSLAM OPTIMIZATION 有权
    用于VSLAM优化的系统和方法

    公开(公告)号：EP2619742B1

    公开(公告)日：2018-02-28

    申请号：EP11827663.3

    申请日：2011-09-23

    申请人： iRobot Corporation

    发明人： EADE, Ethan ,  MUNICH, Mario, E. ,  FONG, Philip

    IPC分类号： G08G1/123 ,  G01C21/32 ,  G05D1/02 ,  G09B29/00 ,  G06K9/62 ,  G06K9/20 ,  G06F17/30

    CPC分类号： G05D1/0246 ,  G05D1/0253 ,  G05D1/0274 ,  G05D2201/0215 ,  G06F17/30061 ,  G06F17/30241 ,  G06F17/30386 ,  G06F17/3053 ,  G06K9/2054 ,  G06K9/6201 ,  G09B29/007

    摘要： 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.

    SYSTEMS AND METHODS FOR PERFORMING SIMULTANEOUS LOCALIZATION AND MAPPING USING MACHINE VISION SYSTEMS
    2.
    发明公开
    SYSTEMS AND METHODS FOR PERFORMING SIMULTANEOUS LOCALIZATION AND MAPPING USING MACHINE VISION SYSTEMS 审中-公开
    用机器视觉系统进行同时定位和绘图的系统和方法

    公开(公告)号：EP3224649A1

    公开(公告)日：2017-10-04

    申请号：EP15862755.4

    申请日：2015-11-17

    申请人： iRobot Corporation

    发明人： MUNICH, Mario ,  ROMANOV, Nikolai ,  GOEL, Dhiraj ,  FONG, Philip ,  MELTZER, Jason ,  BARNADA RIUS, Marc

    IPC分类号： G01S17/50 ,  B25J13/08 ,  G01P3/38

    CPC分类号： G05D1/0274 ,  G05D1/0253 ,  G05D1/0272 ,  G05D2201/0203

    摘要： The present invention provides a mobile robot configured to navigate an operating environment, that includes a controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.

    摘要翻译： 本发明提供了一种移动机器人，其被配置为导航操作环境，该移动机器人包括控制器电路，该控制器电路指导移动机器人的驱动器使用基于照相机的导航系统和包括限定照相机场的光学器件的照相机在环境中导航移动机器人 其中照相机定位在凹陷结构内并且倾斜，使得照相机光轴以与顶面成一直线的水平面上方的锐角对准并瞄准前驱动 机器人主体的方向，并且相机被配置成捕获移动机器人的操作环境的图像。

    CARPET DRIFT ESTIMATION
    5.
    发明公开
    CARPET DRIFT ESTIMATION 审中-公开

    公开(公告)号：EP3910440A1

    公开(公告)日：2021-11-17

    申请号：EP21168056.6

    申请日：2013-06-07

    申请人： iRobot Corporation

    发明人： GOEL, Dhiraj ,  EADE, Ethan ,  FONG, Philip ,  MUNICH, Mario, E.

    IPC分类号： G05D1/02 ,  B25J19/04 ,  B25J5/00 ,  A47L11/32

    摘要： Methods for carpet drift estimation of a robotic device include sensing an actuation characteristic of the actuator system, for example, odometry sensors for sensing wheel rotations of the actuator system. An image sensor senses a motion characteristic of the body.
    A controller estimates carpet drift based at least on the actuation characteristic and the actual motion sensed by the image sensor.

    ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA
    6.
    发明授权
    ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA 有权
    传感器数据空间概述的自适应映射

    公开(公告)号：EP3018603B1

    公开(公告)日：2017-08-30

    申请号：EP15200594.8

    申请日：2013-09-23

    申请人： iRobot Corporation

    发明人： EADE, Ethan ,  FONG, Philip ,  MUNICH, Mario E.

    IPC分类号： G06F19/00 ,  G01C21/20 ,  G01C21/32 ,  G05B15/00 ,  G05D1/02 ,  G05D1/00

    CPC分类号： G01C21/32 ,  G01C21/20 ,  G01C21/206 ,  G05B15/00 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0216 ,  Y10S901/00

    摘要： 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.

    摘要翻译： 公开了一种用于映射由机器人映射系统获取的参数数据的系统和方法。 表征环境的参数数据是在机器人使用地标在环境内自我定位时收集的。 参数数据被记录在多个局部网格中，即与收集数据时的机器人位置和取向相关的子图。 机器人被配置为根据机器人的当前姿态，与其他网格相关联的姿态以及这些相对姿态估计的不确定性来生成新网格或重用现有网格。 与机器相关的姿态估计随着时间的推移而更新，因为机器人会改进其对于确定其在环境中的姿势的地标位置的估计。 占用图或其他全局参数图可以通过将局部网格渲染成指示全局参考帧中的参数数据的综合映射来生成，所述全局参考帧扩展环境的维度。