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公开(公告)号：US11544505B1
公开(公告)日：2023-01-03
申请号：US16829402
申请日：2020-03-25
发明人： Allison Beach , Benjamin Asher Berg , Sung Chun Lee , Sima Taheri , Sravanthi Bondugula , Nafiseh Salmani Niyasar , Gang Qian
摘要： Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for semi-supervised training of an object recognition model. The methods, systems, and apparatus include a monitoring system including a camera located at a property and configured to generate images and one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform actions of determining a cluster of images meets a threshold for number of included images and a threshold for cluster tightness. A representative image of the cluster is selected and a query including the representative image of the cluster is provided. User feedback responsive to the query is received and an object recognition model is updated based on the user feedback.
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公开(公告)号：US20230099968A1
公开(公告)日：2023-03-30
申请号：US17952937
申请日：2022-09-26
发明人： Narayanan Ramanathan , Donald Gerard Madden , Timon Meyer , Gang Qian , Daniel Todd Kerzner , Nikhil Ramachandran , Glenn Tournier
IPC分类号： B25J9/16
摘要： Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for exemplar generation and localization. In some implementations, a method includes obtaining sensor data from a robot traversing a route at a property; determining sampling rates along the route using the sensor data obtained from the robot; selecting images from the sensor data as exemplars for robot localization using the sampling rates along the route; determining that a second robot is in a localization phase at the property; and providing representations of the exemplars for robot localization to the second robot.
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公开(公告)号：US11978256B2
公开(公告)日：2024-05-07
申请号：US17205071
申请日：2021-03-18
发明人： Donald Madden , Achyut Boggaram , Gang Qian , Daniel Todd Kerzner
CPC分类号： G06V20/52 , G06F18/251 , G06V40/10 , G06V40/161 , G06V40/167 , G06V40/20 , G08B13/19602
摘要： A monitoring system is configured to monitor a property. The monitoring system includes a camera, a sensor, and a monitor control unit. The monitor control unit is configured to receive image data and sensor data. The monitor control unit is configured to determine that the image data includes a representation of a person. The monitor control unit is configured to determine an orientation of a representation of a head of the person. The monitor control unit is configured to determine that the representation of the head of the person likely includes a representation of a face of the person. The monitor control unit is configured to determine that the face of the person is likely concealed. The monitor control unit is configured to determine a malicious intent score that reflects a likelihood that the person has a malicious intent. The monitor control unit is configured to perform an action.
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公开(公告)号：US11250625B1
公开(公告)日：2022-02-15
申请号：US17011403
申请日：2020-09-03
发明人： Babak Rezvani , Ahmad Seyfi , Donald Madden , Gang Qian
摘要： Methods, systems, and apparatus, including computer programs encoded on a storage device, for generating a three-dimensional map of a property. The method includes storing at least a portion of an initial map modification data structure, receiving an instruction that instructs the robotic device to initiate property mapping, obtaining image data describing a portion of the property that is mounted to the robotic device, analyzing the obtained image data to determine whether the image data depicts a marker, in response to a determination that the obtained image data depicts a marker, determining the pose of the camera that is mounted to the robotic device, updating the initial map modification data structure using the pose of the camera that is mounted to the robotic device, obtaining an initial three-dimensional map of the property; and modifying the initial three-dimensional map of the property based on the updated map modification data structure.
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公开(公告)号：US10769844B1
公开(公告)日：2020-09-08
申请号：US15979096
申请日：2018-05-14
发明人： Babak Rezvani , Ahmad Seyfi , Donald Madden , Gang Qian
摘要： Methods, systems, and apparatus, including computer programs encoded on a storage device, for generating a three-dimensional map of a property. The method includes storing at least a portion of an initial map modification data structure, receiving an instruction that instructs the robotic device to initiate property mapping, obtaining image data describing a portion of the property that is mounted to the robotic device, analyzing the obtained image data to determine whether the image data depicts a marker, in response to a determination that the obtained image data depicts a marker, determining the pose of the camera that is mounted to the robotic device, updating the initial map modification data structure using the pose of the camera that is mounted to the robotic device, obtaining an initial three-dimensional map of the property; and modifying the initial three-dimensional map of the property based on the updated map modification data structure.
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公开(公告)号：US20190236342A1
公开(公告)日：2019-08-01
申请号：US16261879
申请日：2019-01-30
发明人： Donald Madden , Achyut Boggaram , Gang Qian , Daniel Todd Kerzner
CPC分类号： G06K9/00335 , G06K9/00228 , G06K9/00261 , G06K9/00362 , G06K9/00771 , G06K9/6289 , G08B13/19602
摘要： A monitoring system is configured to monitor a property. The monitoring system includes a camera, a sensor, and a monitor control unit. The monitor control unit is configured to receive image data and sensor data. The monitor control unit is configured to determine that the image data includes a representation of a person. The monitor control unit is configured to determine an orientation of a representation of a head of the person. The monitor control unit is configured to determine that the representation of the head of the person likely includes a representation of a face of the person. The monitor control unit is configured to determine that the face of the person is likely concealed. The monitor control unit is configured to determine a malicious intent score that reflects a likelihood that the person has a malicious intent. The monitor control unit is configured to perform an action.
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公开(公告)号：US20240265705A1
公开(公告)日：2024-08-08
申请号：US18625311
申请日：2024-04-03
发明人： Donald Madden , Achyut Boggaram , Gang Qian , Daniel Todd Kerzner
CPC分类号： G06V20/52 , G06F18/251 , G06V40/10 , G06V40/161 , G06V40/167 , G06V40/20 , G08B13/19602
摘要： A monitoring system is configured to monitor a property. The monitoring system includes a camera, a sensor, and a monitor control unit. The monitor control unit is configured to receive image data and sensor data. The monitor control unit is configured to determine that the image data includes a representation of a person. The monitor control unit is configured to determine an orientation of a representation of a head of the person. The monitor control unit is configured to determine that the representation of the head of the person likely includes a representation of a face of the person. The monitor control unit is configured to determine that the face of the person is likely concealed. The monitor control unit is configured to determine a malicious intent score that reflects a likelihood that the person has a malicious intent. The monitor control unit is configured to perform an action.
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公开(公告)号：US20210201005A1
公开(公告)日：2021-07-01
申请号：US17205071
申请日：2021-03-18
发明人： Donald Madden , Achyut Boggaram , Gang Qian , Daniel Todd Kerzner
IPC分类号： G06K9/00 , G06K9/62 , G08B13/196
摘要： A monitoring system is configured to monitor a property. The monitoring system includes a camera, a sensor, and a monitor control unit. The monitor control unit is configured to receive image data and sensor data. The monitor control unit is configured to determine that the image data includes a representation of a person. The monitor control unit is configured to determine an orientation of a representation of a head of the person. The monitor control unit is configured to determine that the representation of the head of the person likely includes a representation of a face of the person. The monitor control unit is configured to determine that the face of the person is likely concealed. The monitor control unit is configured to determine a malicious intent score that reflects a likelihood that the person has a malicious intent. The monitor control unit is configured to perform an action.
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公开(公告)号：US10963681B2
公开(公告)日：2021-03-30
申请号：US16261879
申请日：2019-01-30
发明人： Donald Madden , Achyut Boggaram , Gang Qian , Daniel Todd Kerzner
IPC分类号： G06K9/00 , G06K9/62 , G08B13/196
摘要： A monitoring system is configured to monitor a property. The monitoring system includes a camera, a sensor, and a monitor control unit. The monitor control unit is configured to receive image data and sensor data. The monitor control unit is configured to determine that the image data includes a representation of a person. The monitor control unit is configured to determine an orientation of a representation of a head of the person. The monitor control unit is configured to determine that the representation of the head of the person likely includes a representation of a face of the person. The monitor control unit is configured to determine that the face of the person is likely concealed. The monitor control unit is configured to determine a malicious intent score that reflects a likelihood that the person has a malicious intent. The monitor control unit is configured to perform an action.
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