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    ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA
    12.
    发明申请
    ADAPTIVE MAPPING WITH SPATIAL SUMMARIES OF SENSOR DATA 有权

    公开(公告)号：US20160069691A1

    公开(公告)日：2016-03-10

    申请号：US14944152

    申请日：2015-11-17

    Applicant: iRobot Corporation

    Inventor： Philip Fong ,  Ethan Eade ,  Mario E. Munich

    IPC: G01C21/20 ,  G05D1/00

    CPC classification number: G01C21/32 ,  G01C21/20 ,  G01C21/206 ,  G05B15/00 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0216 ,  Y10S901/00

    Abstract: 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.

    Adaptive mapping with spatial summaries of sensor data
    13.
    发明授权
    Adaptive mapping with spatial summaries of sensor data 有权

    公开(公告)号：US09952053B2

    公开(公告)日：2018-04-24

    申请号：US15225158

    申请日：2016-08-01

    Applicant: iRobot Corporation

    Inventor： Philip Fong ,  Ethan Eade ,  Mario E. Munich

    IPC: G05B15/00 ,  G01C21/32 ,  G01C21/20 ,  G05D1/02 ,  G05D1/00

    CPC classification number: G01C21/32 ,  G01C21/20 ,  G01C21/206 ,  G05B15/00 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0216 ,  Y10S901/00

    Abstract: 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.

    Carpet Drift Estimation Using Differential Sensors for Visual Measurements
    16.
    发明申请
    Carpet Drift Estimation Using Differential Sensors for Visual Measurements 审中-公开
    使用差分传感器进行视觉测量的地毯漂移估计

    公开(公告)号：US20160332304A1

    公开(公告)日：2016-11-17

    申请号：US15221036

    申请日：2016-07-27

    Applicant: iRobot Corporation

    Inventor： Dhiraj Goel ,  Ethan Eade ,  Philip Fong ,  Mario E. Munich

    IPC: B25J9/16 ,  B25J5/00 ,  B25J11/00 ,  G05D1/02

    CPC classification number: B25J9/1697 ,  B25J5/007 ,  B25J9/1628 ,  B25J9/1664 ,  B25J11/0085 ,  G05D1/0253 ,  G05D1/0268 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01

    Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.

    Abstract translation: 公开了用于地毯漂移估计的装置和方法。 在某些实施方案中，机器人装置包括致动器系统以使身体移动通过表面。 第一组传感器可感测致动器系统的致动特性。 例如，第一组传感器可以包括用于感测致动器系统的轮旋转的测距传感器。 第二组传感器可以感测身体的运动特征。 第一组传感器可以是与第二组传感器不同的传感器类型。 控制器可以至少基于由第一组传感器感测到的致动特性和由第二组传感器感测到的运动特性来估计地毯漂移。

    SYSTEMS AND METHODS FOR VSLAM OPTIMIZATION
    17.
    发明申请
    SYSTEMS AND METHODS FOR VSLAM OPTIMIZATION 审中-公开
    用于VSLAM优化的系统和方法

    公开(公告)号：US20160154408A1

    公开(公告)日：2016-06-02

    申请号：US15014934

    申请日：2016-02-03

    Applicant: iRobot Corporation

    Inventor： Ethan Eade ,  Mario E. Munich ,  Philip Fong

    IPC: G05D1/02 ,  G06K9/62 ,  G06F17/30 ,  G06K9/20

    CPC classification number: G05D1/0246 ,  G05D1/0253 ,  G05D1/0274 ,  G05D2201/0215 ,  G06F17/30061 ,  G06F17/30241 ,  G06F17/30386 ,  G06F17/3053 ,  G06K9/2054 ,  G06K9/6201 ,  G09B29/007

    Abstract: 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.

    Abstract translation: 本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。 这些技术可用于机器人导航。 有利地，可以使用这种可视化技术来自主地生成和更新地图。 与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。 某些实施例考虑了在基于SLAM的系统中对前端处理的改进。 特别地，这些实施方案中的某些考虑了新颖的地标匹配过程。 这些实施例中的某些也考虑了一个新颖的地标创建过程。 某些实施例考虑了对基于SLAM的系统中的后端处理的改进。 特别地，这些实施例中的某些设想了用于实时修改SLAM图的算法以实现更有效的结构。

    Carpet drift estimation using differential sensors or visual measurements
    18.
    发明授权
    Carpet drift estimation using differential sensors or visual measurements 有权
    使用差分传感器或视觉测量的地毯漂移估计

    公开(公告)号：US09223312B2

    公开(公告)日：2015-12-29

    申请号：US13913258

    申请日：2013-06-07

    Applicant: iRobot Corporation

    Inventor： Dhiraj Goel ,  Ethan Eade ,  Philip Fong ,  Mario E. Munich

    IPC: G05D1/02

    CPC classification number: B25J9/1697 ,  B25J5/007 ,  B25J9/1628 ,  B25J9/1664 ,  B25J11/0085 ,  G05D1/0253 ,  G05D1/0268 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/01

    Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.

    Abstract translation: 公开了用于地毯漂移估计的装置和方法。 在某些实施方案中，机器人装置包括致动器系统以使身体移动通过表面。 第一组传感器可感测致动器系统的致动特性。 例如，第一组传感器可以包括用于感测致动器系统的轮旋转的测距传感器。 第二组传感器可以感测身体的运动特征。 第一组传感器可以是与第二组传感器不同的传感器类型。 控制器可以至少基于由第一组传感器感测到的致动特性和由第二组传感器感测到的运动特性来估计地毯漂移。

    CARPET DRIFT ESTIMATION USING DIFFERENTIAL SENSORS OR VISUAL MEASUREMENTS
    19.
    发明申请
    CARPET DRIFT ESTIMATION USING DIFFERENTIAL SENSORS OR VISUAL MEASUREMENTS 审中-公开

    公开(公告)号：US20180297208A1

    公开(公告)日：2018-10-18

    申请号：US15949653

    申请日：2018-04-10

    Applicant: iRobot Corporation

    Inventor： Dhiraj Goel ,  Ethan Eade ,  Philip Fong ,  Mario E. Munich

    IPC: B25J9/16 ,  B25J11/00 ,  G05D1/02 ,  B25J5/00

    Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.

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