公开(公告)号：US20160282126A1

公开(公告)日：2016-09-29

申请号：US14667655

申请日：2015-03-24

Applicant: Google Inc.

Inventor： Kevin William Watts ,  Julian Mac Neille Mason ,  Peter Elving Anderson-Sprecher

IPC: G01C21/20 ,  H04W4/04 ,  G06K9/00

CPC classification number: G01C21/206 ,  G05B19/41895 ,  G05B2219/31007 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0216 ,  G06K9/00664 ,  G06Q10/08 ,  G09B29/004 ,  G09B29/007 ,  G09C1/00 ,  H03K19/17768 ,  H04L9/3278 ,  H04L2209/04 ,  H04L2209/12 ,  H04W4/043 ,  Y02P90/285 ,  Y02P90/60

Abstract: Systems and methods are provided for generating maps with semantic labels. A computing device can determine a first map that includes features located at first positions and semantic labels located at semantic positions, and determine a second map that includes at least some of the features located at second positions. The computing device can identify a first region with fixed features located at first positions and corresponding equivalent second positions. The computing device can identify a second region with moved features located at first positions and corresponding non-equivalent second positions. The computing device can determine one or more transformations between first positions and second positions. The computing device can assign the semantic labels to the second map at second semantic positions, where the second semantic positions are the same in the first region, and where the second semantic positions in the second region are based on the transformation(s).

Abstract translation: 提供了用于生成具有语义标签的地图的系统和方法。 计算设备可以确定包括位于位于语义位置处的第一位置和语义标签的特征的第一地图，并且确定包括位于第二位置的至少一些特征的第二地图。 计算设备可以识别具有位于第一位置和相应等效的第二位置的固定特征的第一区域。 计算设备可以识别具有位于第一位置和对应的非等效第二位置的移动特征的第二区域。 计算设备可以确定第一位置和第二位置之间的一个或多个变换。 计算设备可以在第二语义位置处将语义标签分配给第二映射，其中第二语义位置在第一区域中相同，并且第二区域中的第二语义位置基于变换。

公开(公告)号：US20160207199A1

公开(公告)日：2016-07-21

申请号：US15005362

申请日：2016-01-25

Applicant: Google Inc.

Inventor： James J. Kuffner, JR. ,  Peter Elving Anderson-Sprecher

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J19/06 ,  G05B2219/40196 ,  G05B2219/40202 ,  G05B2219/40203 ,  Y10S901/47 ,  Y10S901/49

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract translation: 提供了确定和呈现虚拟安全网箱的方法和系统。 示例性方法可以包括接收用于机器人设备在由机器人设备占据的物理环境中执行物理动作的指令。 所述方法还可以包括响应于接收到所述指令，并且基于所述机器人设备的一个或多个物理组件的一个或多个参数，确定估计所述机器人装置的所述一个或多个物理组件的一个或多个估计的轨迹 随机器人设备执行物理动作而移动。 所述方法还可以基于所述一个或多个估计的轨迹，确定所述机器人装置估计在进行所述物理动作时在所述物理环境中占据的空间的虚拟表示。 该方法然后可以包括向物理环境提供空间的位置的指示。

公开(公告)号：US20160016315A1

公开(公告)日：2016-01-21

申请号：US14333173

申请日：2014-07-16

Applicant: Google Inc.

Inventor： James J. Kuffner, JR. ,  Peter Elving Anderson-Sprecher

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J19/06 ,  G05B2219/40196 ,  G05B2219/40202 ,  G05B2219/40203 ,  Y10S901/47 ,  Y10S901/49

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract translation: 提供了确定和呈现虚拟安全网箱的方法和系统。 示例性方法可以包括接收用于机器人设备在由机器人设备占据的物理环境中执行物理动作的指令。 所述方法还可以包括响应于接收到所述指令，并且基于所述机器人设备的一个或多个物理组件的一个或多个参数，确定估计所述机器人装置的所述一个或多个物理组件的一个或多个估计的轨迹 随机器人设备执行物理动作而移动。 所述方法还可以基于所述一个或多个估计的轨迹，确定所述机器人装置估计在进行所述物理动作时在所述物理环境中占据的空间的虚拟表示。 该方法然后可以包括向物理环境提供空间位置的指示。

公开(公告)号：US09283678B2

公开(公告)日：2016-03-15

申请号：US14333173

申请日：2014-07-16

Applicant: Google Inc.

Inventor： James J. Kuffner, Jr. ,  Peter Elving Anderson-Sprecher

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/1676 ,  B25J19/06 ,  G05B2219/40196 ,  G05B2219/40202 ,  G05B2219/40203 ,  Y10S901/47 ,  Y10S901/49

Abstract: Methods and systems for determining and presenting virtual safety cages are provided. An example method may involve receiving an instruction for a robotic device to perform a physical action in a physical environment occupied by the robotic device. The method may also involve, responsive to receiving the instruction, and based on one or more parameters of one or more physical components of the robotic device, determining one or more estimated trajectories along which the one or more physical components of the robotic device are estimated to move as the robotic device performs the physical action. The method may further involve, based on the one or more estimated trajectories, determining a virtual representation of a space that the robotic device is estimated to occupy in the physical environment while performing the physical action. The method may then involve providing, into the physical environment, an indication of a location of the space.

Abstract translation: 提供了确定和呈现虚拟安全网箱的方法和系统。 示例性方法可以包括接收用于机器人设备在由机器人设备占据的物理环境中执行物理动作的指令。 所述方法还可以包括响应于接收到所述指令，并且基于所述机器人设备的一个或多个物理组件的一个或多个参数，确定估计所述机器人装置的所述一个或多个物理组件的一个或多个估计的轨迹 随机器人设备执行物理动作而移动。 所述方法还可以基于所述一个或多个估计的轨迹，确定所述机器人装置估计在进行所述物理动作时在所述物理环境中占据的空间的虚拟表示。 该方法然后可以包括向物理环境提供空间位置的指示。

公开(公告)号：US20150161823A1

公开(公告)日：2015-06-11

申请号：US14100290

申请日：2013-12-09

Applicant: Google Inc.

Inventor： Peter Elving Anderson-Sprecher ,  Chaitanya Gharpure ,  Anthony Gerald Francis, JR. ,  James Joseph Kuffner, JR.

IPC: G06T19/20 ,  G06T13/20

CPC classification number: G06T15/005 ,  G06T2200/16

Abstract: An example method may involve a computing device receiving low-resolution images of an object and high-resolution images of the object. The method may also involve causing a 3D image viewer to display a first high-resolution image of the object. The method may further involve receiving an input associated with adjusting a view of the object in the 3D image viewer. The method may still further involve, based on the input, causing the 3D image viewer to sequentially display at least a portion of the low-resolution images so as to adjust the view of the object in the 3D image viewer. The method may yet still further involve, in response to a completion of the sequential display, causing the 3D image viewer to display a second high-resolution image of the object that corresponds to a respective low-resolution image of the object displayed at the completion of the sequential display.

Abstract translation: 示例性方法可以包括接收对象的低分辨率图像和对象的高分辨率图像的计算设备。 该方法还可以涉及使3D图像查看器显示对象的第一高分辨率图像。 该方法还可以包括接收与3D图像查看器中的对象的调整相关联的输入。 该方法还可以进一步涉及基于输入，使3D图像查看器顺序地显示低分辨率图像的至少一部分，以便在3D图像查看器中调整对象的视图。 该方法还可以进一步涉及响应于顺序显示的完成，使3D图像查看器显示对应于在完成时显示的对象的相应低分辨率图像的对象的第二高分辨率图像 的顺序显示。

公开(公告)号：US09240070B2

公开(公告)日：2016-01-19

申请号：US14100290

申请日：2013-12-09

Applicant: Google Inc.

Inventor： Peter Elving Anderson-Sprecher ,  Chaitanya Gharpure ,  Anthony Gerald Francis, Jr. ,  James Joseph Kuffner, Jr.

IPC: G06T15/00

CPC classification number: G06T15/005 ,  G06T2200/16

Abstract: An example method may involve a computing device receiving low-resolution images of an object and high-resolution images of the object. The method may also involve causing a 3D image viewer to display a first high-resolution image of the object. The method may further involve receiving an input associated with adjusting a view of the object in the 3D image viewer. The method may still further involve, based on the input, causing the 3D image viewer to sequentially display at least a portion of the low-resolution images so as to adjust the view of the object in the 3D image viewer. The method may yet still further involve, in response to a completion of the sequential display, causing the 3D image viewer to display a second high-resolution image of the object that corresponds to a respective low-resolution image of the object displayed at the completion of the sequential display.

Abstract translation: 示例性方法可以包括接收对象的低分辨率图像和对象的高分辨率图像的计算设备。 该方法还可以涉及使3D图像查看器显示对象的第一高分辨率图像。 该方法还可以包括接收与3D图像查看器中的对象的调整相关联的输入。 该方法还可以进一步涉及基于输入，使3D图像查看器顺序地显示低分辨率图像的至少一部分，以便在3D图像查看器中调整对象的视图。 该方法还可以进一步涉及响应于顺序显示的完成，使3D图像查看器显示对应于在完成时显示的对象的相应低分辨率图像的对象的第二高分辨率图像 的顺序显示。