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公开(公告)号：US20170168488A1
公开(公告)日：2017-06-15
申请号：US15249250
申请日：2016-08-26
Applicant: QUALCOMM Incorporated
Inventor： Casimir Matthew WIERZYNSKI , Bardia Fallah BEHABADI , Sarah Paige GIBSON , Aliakbar AGHAMOHAMMADI , Saurav AGARWAL
Abstract: A method of visual navigation for a robot includes integrating a depth map with localization information to generate a three-dimensional (3D) map. The method also includes motion planning based on the 3D map, the localization information, and/or a user input. The motion planning overrides the user input when a trajectory and/or a velocity, received via the user input, is predicted to cause a collision.
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公开(公告)号：US20170161946A1
公开(公告)日：2017-06-08
申请号：US15192944
申请日：2016-06-24
Applicant: QUALCOMM Incorporated
Inventor： Aliakbar AGHAMOHAMMADI , Saurav AGARWAL , Kiran SOMASUNDARAM , Shayegan OMIDSHAFIEI , Christopher LOTT , Bardia Fallah BEHABADI , Sarah Paige GIBSON , Casimir Matthew WIERZYNSKI , Gerhard REITMAYR , Serafin DIAZ
CPC classification number: G06T17/05 , B25J9/1697 , G05D1/0212 , G06F17/18 , G06K9/00805 , G06N3/008 , G06N7/005 , G06N20/00 , Y10S901/47
Abstract: A method for generating a map includes determining an occupancy level of each of multiple voxels. The method also includes determining a probability distribution function (PDF) of the occupancy level of each voxel. The method further includes performing an incremental Bayesian update on the PDF to generate the map based on a measurement performed after determining the PDF.
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3.发明申请公开(公告)号：US20170160737A1
公开(公告)日：2017-06-08
申请号：US15069834
申请日：2016-03-14
Applicant: QUALCOMM Incorporated
Inventor： Regan Blythe TOWAL , Shayegan OMIDSHAFIEI , Aliakbar AGHAMOHAMMADI
CPC classification number: G05D1/0011 , B25J9/1697 , G05B2219/40617 , G05D1/0094 , G06K9/00664 , G06T7/564 , H04N5/23203
Abstract: A method of motion planning includes observing an object from a first pose of an agent having a controllable camera. The method also includes determining one or more subsequent control inputs to move the agent and the camera to observe the object from at least one subsequent pose. The subsequent control input(s) are determined so as to minimize an expected enclosing measure of the object based on visual data collected from the camera. The method further includes controlling the agent and the camera based on the subsequent control input(s).
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公开(公告)号：US20170160747A1
公开(公告)日：2017-06-08
申请号：US15192874
申请日：2016-06-24
Applicant: QUALCOMM Incorporated
Inventor： Aliakbar AGHAMOHAMMADI , Saurav AGARWAL , Shayegan OMIDSHAFIEI , Christopher LOTT , Kiran SOMASUNDARAM , Bardia Fallah BEHABADI , Sarah Paige GIBSON , Casimir Matthew WIERZYNSKI , Gerhard REITMAYR , Serafin DIAZ
CPC classification number: G05D1/0251 , G06T7/579 , G06T7/593 , G06T2207/10021 , G06T2207/20076 , H04N13/204
Abstract: A method of calculating a most likely map based on batch data includes gathering a corpus of sensor measurements indexed by a location of a sensor throughout an environment to be mapped. The method also includes determining, after gathering the corpus of sensor measurements, a most likely occupancy level of each voxel of multiple voxels of the environment in accordance with the corpus of sensor measurements and a stochastic sensor model. The method further includes calculating the most likely map based on the determined most likely occupancy level.
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Patent Agency Ranking
公开(公告)号：US20170004406A1
公开(公告)日：2017-01-05
申请号：US14941465
申请日：2015-11-13
Applicant: QUALCOMM Incorporated
Inventor： Aliakbar AGHAMOHAMMADI
CPC classification number: G06N5/045 , B25J9/1666 , G06N3/008 , G06N7/005 , G06N20/00
Abstract: A method for generating a movement policy includes determining a probability distribution function for multiples nodes of a roadmap and determining, in parallel, a cost and a collision probability for each edge of the roadmap. The method also includes generating the movement policy based on the probability distribution function, the cost, and the collision probability.
Abstract translation: 用于生成移动策略的方法包括确定路线图的多个节点的概率分布函数，并且并行地确定路线图的每个边缘的成本和冲突概率。 该方法还包括基于概率分布函数，成本和碰撞概率生成移动策略。
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公开(公告)号：US20170213070A1
公开(公告)日：2017-07-27
申请号：US15192857
申请日：2016-06-24
Applicant: QUALCOMM Incorporated
CPC classification number: G06K9/00201 , B25J9/163 , B25J9/1697 , G05D1/0088 , G06K9/4604 , G06K9/52 , G06T7/13 , G06T7/529 , G06T7/60 , Y10S901/47 , Y10S901/50
Abstract: A method for guiding a robot equipped with a camera to facilitate three-dimensional (3D) reconstruction through sampling based planning includes recognizing and localizing an object in a two-dimensional (2D) image. The method also includes computing 3D depth maps for the localized object. A 3D object map is constructed from the depth maps. A sampling based structure is grown around the 3D object map and a cost is assigned to each edge of the sampling based structure. The sampling based structure may be searched to determine a lowest cost sequence of edges that may, in turn be used to guide the robot.
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公开(公告)号：US20170157769A1
公开(公告)日：2017-06-08
申请号：US15192719
申请日：2016-06-24
Applicant: QUALCOMM Incorporated
Inventor： Aliakbar AGHAMOHAMMADI , Bardia Fallah BEHABADI , Christopher LOTT , Shayegan OMIDSHAFIEI , Kiran SOMASUNDARAM , Sarah Paige GIBSON , Casimir Matthew WIERZYNSKI , Saurav AGARWAL , Gerhard REITMAYR , Serafin DIAZ
IPC: B25J9/16
CPC classification number: B25J9/1664 , G01C21/20 , G01C21/32 , G05B2219/40512 , G05B2219/40519 , G05D1/0217 , G05D1/0251 , G05D1/0274 , Y10S901/01
Abstract: A method substantially simultaneously plans a path and maps an environment by a robot. The method determines a mean of an occupancy level for a location in a map. The method also includes determining a probability distribution function (PDF) of the occupancy level. The method further includes calculating a cost function based on the PDF. Finally, the method includes simultaneously planning the path and mapping the environment based on the cost function.
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公开(公告)号：US20170165835A1
公开(公告)日：2017-06-15
申请号：US15192881
申请日：2016-06-24
Applicant: QUALCOMM Incorporated
Inventor： Saurav AGARWAL , Aliakbar AGHAMOHAMMADI , Kiran SOMASUNDARAM
CPC classification number: B25J9/1666 , B25J9/163 , B25J9/1664 , G05D1/0217 , G05D2201/0207 , G06N20/00 , Y10S901/01 , Y10S901/09
Abstract: A method of motion planning for an agent to reach a target includes determining a frontier region between a frontier at a current time and a frontier at a next time. Waypoints are sampled in the frontier region with a bias toward the target. A path to reach the target is selected based on a sequence of the sampled waypoints.
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公开(公告)号：US20170161910A1
公开(公告)日：2017-06-08
申请号：US15192603
申请日：2016-06-24
Applicant: QUALCOMM Incorporated
Inventor： Aliakbar AGHAMOHAMMADI , Saurav AGARWAL , Shayegan OMIDSHAFIEI , Kiran SOMASUNDARAM , Christopher LOTT , Bardia Fallah BEHABADI , Sarah Paige GIBSON , Casimir Matthew WIERZYNSKI , Gerhard REITMAYR , Serafin DIAZ
CPC classification number: G05D1/0274 , G05D1/0251 , G06K9/00664 , G06K9/6277 , G06T7/579 , G06T2207/10021 , G06T2207/20076 , G06T2207/30252
Abstract: A method for defining a sensor model includes determining a probability of obtaining a measurement from multiple potential causes in a field of view of a sensor modeled based on a stochastic map. The stochastic map includes a mean occupancy level for each voxel in the stochastic map and a variance of the mean occupancy level for each pixel. The method also includes determining a probability of obtaining an image based on the determined probability of obtaining the measurement. The method further includes planning an action for a robot, comprising the sensor, based on the probability of obtaining the image.
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