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    SYSTEMS AND METHODS FOR VSLAM OPTIMIZATION
    2.
    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.

    CARPET DRIFT ESTIMATION
    3.
    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
    5.
    发明公开
    ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA 有权
    带传感器数据的空间摘要适应分配

    公开(公告)号：EP2839399A1

    公开(公告)日：2015-02-25

    申请号：EP13843954.2

    申请日：2013-09-23

    申请人： iRobot Corporation

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

    IPC分类号： G06F19/00

    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.