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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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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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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：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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