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公开(公告)号：US20170277190A1
公开(公告)日：2017-09-28
申请号：US15078565
申请日：2016-03-23
Applicant: Caterpillar Inc.
Inventor： Hong Chang , Nicholas Vogel
CPC classification number: E02F9/2037 , E02F9/2045 , E02F9/264 , G05D1/0223 , G05D2201/0202
Abstract: A machine navigation system includes a monitoring mechanism for monitoring configuration of an implement movable between configurations relative to a frame such that a center of mass of the machine moves in response to the moving of the implement. A second monitoring mechanism monitors track speed in the machine. A location of an origin of the track speed varies based upon location of the center of mass. A control unit is coupled with the monitoring mechanisms and structured to determine a control term for compensating for movement of a reference location on the machine relative to the track speed origin. The control unit further calculates velocity based on the track speed and the compensatory control term.
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公开(公告)号：US09378554B2
公开(公告)日：2016-06-28
申请号：US14510869
申请日：2014-10-09
Applicant: CATERPILLAR INC.
Inventor： Hong Chang , Paul Russell Friend
CPC classification number: H04N13/207 , G01S17/89 , G05D1/0248 , G05D1/0274 , G06T7/33 , G06T7/55 , G06T2207/10024 , G06T2207/10028 , G06T2207/30252
Abstract: A system, method, and non-transitory computer-readable storage medium for range map generation is disclosed. The method may include receiving an image from a camera and receiving a 3D point cloud from a range detection unit. The method may further include transforming the 3D point cloud from range detection unit coordinates to camera coordinates. The method may further include projecting the transformed 3D point cloud into a 2D camera image space corresponding to the camera resolution to yield projected 2D points. The method may further include filtering the projected 2D points based on a range threshold. The method may further include generating a range map based on the filtered 2D points and the image.
Abstract translation: 公开了一种用于范围图生成的系统，方法和非暂时计算机可读存储介质。 该方法可以包括从相机接收图像并从范围检测单元接收3D点云。 该方法还可以包括将3D点云从范围检测单元坐标变换到相机坐标。 该方法还可以包括将经变换的3D点云投影到与相机分辨率相对应的2D相机图像空间中以产生投影2D点。 该方法还可以包括基于范围阈值来过滤投影的2D点。 该方法还可以包括基于滤波的2D点和图像生成范围图。
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公开(公告)号：US09254822B1
公开(公告)日：2016-02-09
申请号：US14519822
申请日：2014-10-21
Applicant: Caterpillar Inc.
Inventor： Paul R. Friend , Timothy Evans , Qi Chen , Andrew T. Whitten , Nicholas R. Vogel , Hong Chang , Salman Chikni , Frank A. Willis
Abstract: A system having a primary inertial measurement unit and a secondary inertial measurement unit configured to generate a primary position signal and a secondary position signal respectively is provided. The system also includes an error detection module communicably coupled to the primary inertial measurement unit and the secondary inertial measurement unit. The error detection module is configured to receive the primary position signal and the secondary position signal and detect if an out-range error is present in at least one of the primary position signal and the secondary position signal. The error detection module is also configured to detect if an in-range error is present in at least one of the primary position signal and the secondary position signal and determine an action to be performed based on the presence of at least one of the out-range error and the in-range error.
Abstract translation: 提供一种具有初级惯性测量单元和被配置成分别产生主位置信号和次级位置信号的次惯性测量单元的系统。 该系统还包括可通信地耦合到主惯性测量单元和次惯性测量单元的错误检测模块。 误差检测模块被配置为接收主位置信号和副位置信号，并且检测在主位置信号和副位置信号中的至少一个中是否存在超范围误差。 误差检测模块还被配置为检测在主要位置信号和次要位置信号中的至少一个中是否存在范围内误差，并且基于存在至少一个外部位置信号来确定要执行的动作， 范围误差和范围内误差。
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公开(公告)号：US09251587B2
公开(公告)日：2016-02-02
申请号：US13857670
申请日：2013-04-05
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend , Qi Chen , Hong Chang , Daniel Dale Morris , Jodi Seaborn Graf
CPC classification number: G06T7/0042 , G06T7/73 , G06T2200/04 , G06T2207/10016 , G06T2207/10028 , G06T2207/30244 , G06T2207/30252
Abstract: A motion determination system is disclosed. The system may receive a first and a second camera image from a camera, the first camera image received earlier than the second camera image. The system may identify corresponding features in the first and second camera images. The system may receive range data comprising at least one of a first and a second range data from a range detection unit, corresponding to the first and second camera images, respectively. The system may determine first positions and the second positions of the corresponding features using the first camera image and the second camera image. The first positions or the second positions may be determined by also using the range data. The system may determine a change in position of the machine based on differences between the first and second positions, and a VO-based velocity of the machine based on the determined change in position.
Abstract translation: 公开了一种运动判定系统。 系统可以从相机接收第一和第二相机图像，第一相机图像比第二相机图像更早地接收。 该系统可以识别第一和第二相机图像中的对应特征。 系统可以分别接收来自范围检测单元的第一和第二范围数据中的至少一个的范围数据，对应于第一和第二摄像机图像。 系统可以使用第一相机图像和第二相机图像来确定相应特征的第一位置和第二位置。 第一位置或第二位置可以通过使用范围数据来确定。 该系统可以基于第一和第二位置之间的差异以及基于所确定的位置变化的机器的基于VO的速度来确定机器的位置的变化。
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Patent Agency Ranking
公开(公告)号：US09678210B2
公开(公告)日：2017-06-13
申请号：US14577440
申请日：2014-12-19
Applicant: Caterpillar Inc.
Inventor： Paul Russell Friend , Hong Chang
CPC classification number: G01S17/89 , G01S7/4808 , G01S17/023 , G01S17/58
Abstract: A motion determination system is disclosed. The system may calculate one or more visual-odometry outputs. The system may determine a plurality of figure of merits, wherein each of the plurality of figure of merits is associated with one of a plurality of parameters affecting the calculation of the one or more visual-odometry outputs, and each of the plurality of figure of merits is indicative of an accuracy of the visual-odometry outputs. The system may calculate a combined figure of merit based on the plurality of figure of merits. The system may calculate an error estimate for the one or more visual-odometry outputs based on the combined figure of merit.
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公开(公告)号：US09167214B2
公开(公告)日：2015-10-20
申请号：US13745641
申请日：2013-01-18
Applicant: Caterpillar Inc.
Inventor： Bradley Scott Kriel , Daniel Morris , Hong Chang
CPC classification number: H04N7/181 , G01S13/867 , G01S13/931
Abstract: An image processing system has a plurality of cameras and a display that are mounted on a machine. The plurality of cameras are configured to generate image data for an environment of the machine. The image processing system also has a processor connected to the plurality of cameras and the display. The processor is configured to access the image data from the plurality of cameras, access parameters associated with the plurality of cameras, generate a unified image by combining the image data from the plurality of cameras based at least in part on the parameters, access state data associated with the machine, select a portion of the unified image based at least in part on the state data, and render the portion of the unified image on the display.
Abstract translation: 图像处理系统具有安装在机器上的多个摄像机和显示器。 多个相机被配置为生成用于机器的环境的图像数据。 图像处理系统还具有连接到多个相机和显示器的处理器。 处理器被配置为访问来自多个摄像机的图像数据，访问与多个摄像机相关联的参数，通过至少部分地基于参数组合来自多个摄像机的图像数据来生成统一图像，访问状态数据 与机器相关联，至少部分地基于状态数据选择统一图像的一部分，并将统一图像的部分呈现在显示器上。
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公开(公告)号：US09785151B1
公开(公告)日：2017-10-10
申请号：US15078565
申请日：2016-03-23
Applicant: Caterpillar Inc.
Inventor： Hong Chang , Nicholas Vogel
CPC classification number: E02F9/2037 , E02F9/2045 , E02F9/264 , G05D1/0223 , G05D2201/0202
Abstract: A machine navigation system includes a monitoring mechanism for monitoring configuration of an implement movable between configurations relative to a frame such that a center of mass of the machine moves in response to the moving of the implement. A second monitoring mechanism monitors track speed in the machine. A location of an origin of the track speed varies based upon location of the center of mass. A control unit is coupled with the monitoring mechanisms and structured to determine a control term for compensating for movement of a reference location on the machine relative to the track speed origin. The control unit further calculates velocity based on the track speed and the compensatory control term.
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8.发明授权Real-time visual odometry system for determining motion of a machine with a range detection unit 有权用于用距离检测单元确定机器的运动的实时视觉测距系统公开(公告)号：US09449397B2
公开(公告)日：2016-09-20
申请号：US14515009
申请日：2014-10-15
Applicant: Caterpillar Inc.
Inventor： Hong Chang , Paul Russell Friend
CPC classification number: G06T7/20 , G06K9/00791 , G06K9/52 , G06T7/73 , G06T2207/10016 , G06T2207/10024 , G06T2207/10028 , G06T2207/20221 , G06T2207/30244 , G06T2207/30252
Abstract: A motion determination system is disclosed. The system may receive a first camera image and a second camera image. The system may receive a first range image corresponding to the first camera image. The system may generate a first range map by fusing the first camera image and the first range image. The system may iteratively process a plurality of first features in the first range map to determine a change in position of the machine. The plurality of second features may correspond to the plurality of first features, and each of the plurality of first and second features is denoted by feature points in an image space of the camera.
Abstract translation: 公开了一种运动判定系统。 系统可以接收第一相机图像和第二相机图像。 系统可以接收对应于第一相机图像的第一范围图像。 系统可以通过融合第一相机图像和第一范围图像来生成第一范围图。 系统可以迭代地处理第一范围图中的多个第一特征以确定机器位置的变化。 多个第二特征可以对应于多个第一特征，并且多个第一和第二特征中的每一个由相机的图像空间中的特征点表示。
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公开(公告)号：US20160180530A1
公开(公告)日：2016-06-23
申请号：US14577440
申请日：2014-12-19
Applicant: Caterpillar Inc.
Inventor： Paul Russell FRIEND , Hong Chang
CPC classification number: G01S17/89 , G01S7/4808 , G01S17/023 , G01S17/58
Abstract: A motion determination system is disclosed. The system may calculate one or more visual-odometry outputs. The system may determine a plurality of figure of merits, wherein each of the plurality of figure of merits is associated with one of a plurality of parameters affecting the calculation of the one or more visual-odometry outputs, and each of the plurality of figure of merits is indicative of an accuracy of the visual-odometry outputs. The system may calculate a combined figure of merit based on the plurality of figure of merits. The system may calculate an error estimate for the one or more visual-odometry outputs based on the combined figure of merit.
Abstract translation: 公开了一种运动判定系统。 系统可以计算一个或多个视觉测量输出。 该系统可以确定多个优点，其中多个优点中的每一个与影响一个或多个视觉测量输出的计算的多个参数中的一个相关联，并且多个图中的每一个 优点表明视觉测量输出的精度。 系统可以基于多个优点来计算组合品质因数。 系统可以基于组合的品质因数来计算一个或多个视觉测量输出的误差估计。
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