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1.发明授权公开(公告)号：US10748299B2
公开(公告)日：2020-08-18
申请号：US16580403
申请日：2019-09-24
Applicant: Tata Consultancy Services Limited
Inventor： Mohit Ludhiyani , Vishvendra Rustagi , Arnab Sinha , Ranjan Dasgupta
Abstract: Robotic vision-based framework wherein an on-board camera device is used for scale estimation. Unlike conventional scale estimation methods that require inputs from more than one or more sensors, implementations include a system and method to estimate scale online solely, without any other sensor, for monocular SLAM by using multirotor dynamics model in an extended Kalman filter framework. This approach improves over convention scale estimation methods which require information from some other sensors or knowledge of physical dimension of an object within the camera view. An arbitrary scaled position and an Euler angle of a multirotor are estimated from vision SLAM (simultaneous localization and mapping) technique. Further, dynamically integrating, computed acceleration to estimate a metric position. A scale factor and a parameter associated with the multirotor dynamics model is obtained by comparing the estimated metric position with the estimated arbitrary position.
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Patent Agency Ranking
公开(公告)号：US11625044B2
公开(公告)日：2023-04-11
申请号：US17025550
申请日：2020-09-18
Applicant: Tata Consultancy Services Limited
Inventor： Arup Kumar Sadhu , Arnab Sinha , Titas Bera , Mohit Ludhiyani , Ranjan Dasgupta
Abstract: This disclosure relates generally to real-time path planning. Planning amidst obstacles in a cluttered indoor environment is a difficult task for a robotic agent. The disclosed method provides semidefinite programming induced free-space based path planning. Free-space is generated by an efficient environment grid resolution independent seeding technique. In the proposed resolution independent seeding technique, initial position of the robotic agent is considered as the first seed. For subsequent seeding, information of the expanded earlier seeds are employed intelligently. This process is followed unto a finite sequence, which naturally results in a contiguous navigable convex free-space. This contiguous navigable convex free-space is employed to create an undirected graph, which is then used for path planning. Path planning is done locally by evaluating the subgoal with respect to a final goal. Local planning cumulatively assists the planner to attain the final goal.
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公开(公告)号：US11525683B2
公开(公告)日：2022-12-13
申请号：US16254303
申请日：2019-01-22
Applicant: Tata Consultancy Services Limited
Inventor： Vishvendra Rustagi , Mohit Ludhiyani , Arnab Sinha , Ranjan Dasgupta
Abstract: Embodiments of the present disclosure provide systems and methods to eliminate (or filter) drift for dynamics model based localization of multirotors. The dynamics equations require drag modelling, which is dependent on velocity, to generate vehicles' acceleration along the body axis. The present disclosure considers the drag contribution, at velocity level, as a low frequency component. Incorrect or nonmodelling of this low frequency component leads to drift at velocity level. This drift can then be removed through a high pass filter to obtain drift free velocity data for pose estimation and better localization thereof.
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公开(公告)号：US20140324709A1
公开(公告)日：2014-10-30
申请号：US14086707
申请日：2013-11-21
Applicant: Tata Consultancy Services Limited
Inventor： Arnab Sinha
CPC classification number: G06Q50/184 , G06F2216/11
Abstract: The present subject matter discloses systems and methods for patentability determination of an inventive idea in an organization. In one implementation, the method for patentability determination in the organization comprises receiving high-level functionalities and granular-level functionalities of the inventive idea at a patentability determination system from an end user. Next, the end user provides importance-level inputs for each of the granular-level functionalities at the patentability determination system. The method further comprises receiving matching-level inputs for each of the granular-level functionalities against prior art documents at the patentability determination system from a plurality of evaluators. Based on the importance-level inputs and the matching-level inputs, an overall patentability index value of the granular-level functionalities is calculated. The overall patentability index value of the granular-level functionalities is then compared with a predetermined threshold to determine patentability of the inventive idea.
Abstract translation: 本主题公开了用于组织中的创造性想法的可专利性确定的系统和方法。 在一个实施方式中，组织中可专利性确定的方法包括在最终用户的可专利性确定系统中接收本发明构思的高级功能和粒度级功能。 接下来，终端用户为可专利性确定系统的每个粒度级功能提供重要级别的输入。 该方法还包括从多个评估者接收针对可专利性确定系统的现有技术文档的每个粒度级功能的匹配级输入。 基于重要性级输入和匹配级输入，计算粒度级功能的整体可专利性指标值。 然后将粒度级功能的整体可专利性指数值与预定阈值进行比较，以确定本发明思想的可专利性。
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公开(公告)号：US11443446B2
公开(公告)日：2022-09-13
申请号：US17036213
申请日：2020-09-29
Applicant: Tata Consultancy Services Limited
Inventor： Arnab Sinha
Abstract: State of art systems in the domain of dynamism detection fail to estimate noise if depth images are being collected as input for the dynamism detection, as the noise in depth images depend on the scene being captured. Disclosed herein are method and system for determining dynamism by processing depth image of a scene. The system models depth sensor noise as ergodic stochastic process by determining that distribution estimated at each reference pixel from a plurality of neighborhood pixels in a reference image being processed is statistically same as a distribution estimated from evolution of the reference pixel over the time. After modeling the depth sensor noise in this manner, the same is eliminated/removed from the reference image, which is then processed to estimate divergence at each pixel based on temporal and spatial distribution built at pixel level in the reference image, and in turn determines dynamism in the scene.
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公开(公告)号：US20210094182A1
公开(公告)日：2021-04-01
申请号：US17025550
申请日：2020-09-18
Applicant: Tata Consultancy Services Limited
Inventor： Arup Kumar Sadhu , Arnab Sinha , Titas Bera , Mohit Ludhiyani , Ranjan Dasgupta
Abstract: This disclosure relates generally to real-time path planning. Planning amidst obstacles in a cluttered indoor environment is a difficult task for a robotic agent. The disclosed method provides semidefinite programming induced free-space based path planning. Free-space is generated by an efficient environment grid resolution independent seeding technique. In the proposed resolution independent seeding technique, initial position of the robotic agent is considered as the first seed. For subsequent seeding, information of the expanded earlier seeds are employed intelligently. This process is followed unto a finite sequence, which naturally results in a contiguous navigable convex free-space. This contiguous navigable convex free-space is employed to create an undirected graph, which is then used for path planning. Path planning is done locally by evaluating the subgoal with respect to a final goal. Local planning cumulatively assists the planner to attain the final goal.
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