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

IPC: G06T17/05 ,  G06F17/18 ,  B25J9/16 ,  G06N7/00 ,  G06N99/00

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.

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

IPC: G05D1/02 ,  G05D1/00 ,  G06T7/00 ,  G06K9/00 ,  G06T17/05

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.

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

IPC: G05D1/02 ,  H04N13/02

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.

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.

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

IPC: B25J9/16 ,  G06N99/00

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.

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

IPC: G06T7/20 ,  G05D1/02 ,  G06K9/62

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.