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    Robotic modeling of voids
    1.
    发明授权
    Robotic modeling of voids 有权
    空洞的机器人建模

    公开(公告)号：US07069124B1

    公开(公告)日：2006-06-27

    申请号：US10696669

    申请日：2003-10-28

    申请人： William Lawrence Whittaker ,  Warren Charles Whittaker ,  Scott Mason Thayer ,  Zachary Meyer Omohundro ,  Carlos Felipe Reverte ,  David Ian Ferguson ,  Aaron Christopher Morris ,  Christopher Baker

    发明人： William Lawrence Whittaker ,  Warren Charles Whittaker ,  Scott Mason Thayer ,  Zachary Meyer Omohundro ,  Carlos Felipe Reverte ,  David Ian Ferguson ,  Aaron Christopher Morris ,  Christopher Baker

    IPC分类号： G01V3/38

    CPC分类号： G05D1/0274 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0207 ,  G05D2201/021

    摘要： Robotic systems for modeling, mapping and exploring subterranean void spaces such as mines, caves, tunnels, bunkers, and conduits. Robotic modeling of subterranean voids is generally enabled by a procedural system consisting of preprocessing, ingress, void modeling, mapping and navigation, exploration, conveying payloads other than void modeling sensors, egress, and post processing. The robots can either be imposed mobility or can be self mobile with either autonomous, remote, teleoperated, or manual modes of operation. The robot may optionally transform from a compact size into a more conventional operating size if the operating size exceeds the void entry opening size. Void geometries with flat floors are amenable to robot locomotion such as rolling, crawling, walking or swimming. Alternatively, irregular floor geometries that preclude self mobilization may be accessible by imposed mobilization such as dropping or pushing a movable robotic sensor into such voids. The robotic device is preferably adaptable to voids filled with a gas or liquid. To maximize mapping applicability, the robot optionally includes sensing, locomotion and environmental tolerance to submersion and safeguarding, according to use criteria.

    摘要翻译： 用于建模，绘图和探索地下空隙的机器人系统，如矿山，洞穴，隧道，掩体和管道。 地下空隙的机器人建模通常由包括预处理，入口，空间建模，映射和导航，勘探，传送除空模型传感器之外的有效载荷，出口和后期处理的程序系统来实现。 机器人可以强加移动性，也可以是自主的，远程的，远程操作的或手动的操作模式。 如果操作尺寸超过空隙入口开口尺寸，则机器人可以可选地从紧凑尺寸变换成更传统的操作尺寸。 具有平坦地板的空隙几何适合机器人运动，如滚动，爬行，步行或游泳。 或者，排除自动动作的不规则地板几何形状可以通过施加的动员来实现，例如将可移动机器人传感器落下或推动到这样的空隙中。 机器人装置优选地适应于填充有气体或液体的空隙。 为了最大限度地提高绘图适用性，机器人根据使用标准可选地包括感知，移动和环境容忍浸入和保护。

    Road flare detection
    3.
    发明授权
    Road flare detection 有权
    道路耀斑检测

    公开(公告)号：US09195236B1

    公开(公告)日：2015-11-24

    申请号：US13603609

    申请日：2012-09-05

    申请人： Nathaniel Fairfield ,  David Ian Ferguson

    发明人： Nathaniel Fairfield ,  David Ian Ferguson

    IPC分类号： G01C22/00 ,  G05D1/00 ,  G05D1/02 ,  B60W30/09

    CPC分类号： B60W30/09 ,  B60W10/06 ,  B60W10/08 ,  B60W10/18 ,  B60W10/20 ,  B60W2050/146 ,  B60W2420/42 ,  B60W2550/10 ,  G01C22/00 ,  G05D1/0214 ,  G05D1/0246 ,  G05D2201/0213 ,  G08G1/16 ,  G08G1/165

    摘要： Methods and systems for road flare detection are described. A computing device configured to control the vehicle, may be configured to receive, from an image-capture device, images; image portions of the images may depict an area within a predetermined distance from a surface of a road on which the vehicle is travelling. Also, the computing device may be configured to determine, based on characteristics of an object depicted in the image portions such as color spectrum of the object, brightness of the object, and whether the object is stationary or moving with respect to the road, a likelihood that the object represents a road flare. Based on the likelihood, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.

    摘要翻译： 描述道路耀斑检测的方法和系统。 被配置为控制车辆的计算设备可以被配置为从图像捕获设备接收图像; 图像的图像部分可以描绘距车辆行驶的道路的表面预定距离内的区域。 此外，计算装置还可以被配置为基于图像部分中描绘的对象的特征，例如对象的颜色，对象的亮度，以及对象是静止的还是相对于道路移动的特征， 对象代表道路耀斑的可能性。 基于可能性，计算设备可以被配置为修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。

    Method for correcting alignment of vehicle mounted laser scans with an elevation map for obstacle detection
    6.
    发明授权
    Method for correcting alignment of vehicle mounted laser scans with an elevation map for obstacle detection 有权
    用于校正车载激光扫描的对准的方法，用于障碍物检测的高程图

    公开(公告)号：US09052721B1

    公开(公告)日：2015-06-09

    申请号：US13597143

    申请日：2012-08-28

    申请人： Jonathan Baldwin Dowdall ,  Dmitri Dolgov ,  David Ian Ferguson ,  Jiajun Zhu

    发明人： Jonathan Baldwin Dowdall ,  Dmitri Dolgov ,  David Ian Ferguson ,  Jiajun Zhu

    IPC分类号： G05D1/02 ,  B64D45/00

    CPC分类号： G05D1/0272 ,  B64D45/00 ,  G05D1/024 ,  G05D1/0242 ,  G05D2201/0213

    摘要： Methods and systems for alignment of light detection and ranging (LIDAR) data are described. In some examples, a computing device of a vehicle may be configured to compare a three-dimensional (3D) point cloud to a reference 3D point cloud to detect obstacles on a road. However, in examples, the 3D point cloud and the reference 3D point cloud may be misaligned. To align the 3D point cloud with the reference 3D point cloud, the computing device may be configured to determine a planar feature in the 3D point cloud of the road and a corresponding planar feature in the reference 3D point cloud. Further, the computing device may be configured to determine, based on comparison of the planar feature to the corresponding planar feature, a transform. The computing device may be configured to apply the transform to align the 3D point cloud with the reference 3D point cloud.

    摘要翻译： 描述了光检测和测距（LIDAR）数据对准的方法和系统。 在一些示例中，车辆的计算设备可以被配置为将三维（3D）点云与参考3D点云进行比较，以检测道路上的障碍物。 然而，在示例中，3D点云和参考3D点云可能不对齐。 为了使3D点云与参考3D点云对齐，计算设备可以被配置为确定道路的3D点云中的平面特征以及参考3D点云中的相应平面特征。 此外，计算设备可以被配置为基于平面特征与对应的平面特征的比较来确定变换。 计算设备可以被配置为应用变换以使3D点云与参考3D点云对齐。

    Modifying vehicle behavior based on confidence in lane estimation
    7.
    发明授权
    Modifying vehicle behavior based on confidence in lane estimation 有权
    根据车道估计的信心修改车辆行为

    公开(公告)号：US08948954B1

    公开(公告)日：2015-02-03

    申请号：US13420652

    申请日：2012-03-15

    申请人： David Ian Ferguson ,  Dmitri Dolgov

    发明人： David Ian Ferguson ,  Dmitri Dolgov

    IPC分类号： G05D1/00 ,  G06F7/00

    CPC分类号： B60W30/12 ,  B60W2550/402

    摘要： Methods and systems for modifying vehicle behavior based on confidence in lane estimation are described. In an example, a computing device may be configured to receive lane information relating to locations of lane boundaries and may be configured to estimate a lane boundary on a road on which the vehicle is traveling, based on the lane information. The computing device also may be configured to determine a level of confidence for the estimated lane boundary, modify a driving behavior for the vehicle based on the level of confidence, and also may be configured to control the vehicle based on the modified driving behavior.

    摘要翻译： 描述了基于车道估计的置信度来改变车辆行为的方法和系统。 在一个示例中，计算设备可以被配置为接收与车道边界的位置相关的车道信息，并且可以被配置为基于车道信息来估计在车辆行驶的道路上的车道边界。 计算设备还可以被配置为确定估计的车道边界的置信水平，基于置信度来修改车辆的驾驶行为，并且还可以被配置为基于修改的驾驶行为来控制车辆。

    Construction zone detection using a plurality of information sources
    8.
    发明授权
    Construction zone detection using a plurality of information sources 有权
    使用多个信息源构建区域检测

    公开(公告)号：US09221461B2

    公开(公告)日：2015-12-29

    申请号：US13603613

    申请日：2012-09-05

    申请人： David Ian Ferguson ,  Dirk Haehnel ,  Nathaniel Fairfield

    发明人： David Ian Ferguson ,  Dirk Haehnel ,  Nathaniel Fairfield

    IPC分类号： G01C22/00 ,  G05D1/00 ,  B60W30/00 ,  B60W30/12 ,  B60W30/16

    CPC分类号： B60W30/00 ,  B60W30/12 ,  B60W30/16 ,  B60W40/06 ,  B60W2050/0091 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/40 ,  B60W2550/402

    摘要： Methods and systems for detection of a construction zone using information from a plurality of sources are described. In an example, a computing device, configured to control the vehicle, may be configured to receive information, from a plurality of sources, relating to detection of a construction zone on the road on which the vehicle is travelling. Also, the computing device may be configured to determine a likelihood of existence of the construction zone on the road, based on the information. Further the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle, based on the likelihood; and control the vehicle based on the modified control strategy.

    摘要翻译： 描述了使用来自多个源的信息来检测构造区域的方法和系统。 在一个示例中，被配置为控制车辆的计算设备可以被配置为从多个源接收关于在车辆行驶的道路上的建筑区域的检测的信息。 此外，计算设备可以被配置为基于该信息来确定道路上的建筑区域的存在的可能性。 此外，计算设备可以被配置为基于可能性修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。

    Construction Zone Detection Using a Plurality of Information Sources
    10.
    发明申请
    Construction Zone Detection Using a Plurality of Information Sources 有权
    使用多种信息源的建筑区域检测

    公开(公告)号：US20140067187A1

    公开(公告)日：2014-03-06

    申请号：US13603613

    申请日：2012-09-05

    申请人： David Ian Ferguson ,  Dirk Haehnel ,  Nathaniel Fairfield

    发明人： David Ian Ferguson ,  Dirk Haehnel ,  Nathaniel Fairfield

    IPC分类号： G05D1/00

    CPC分类号： B60W30/00 ,  B60W30/12 ,  B60W30/16 ,  B60W40/06 ,  B60W2050/0091 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2550/40 ,  B60W2550/402

    摘要： Methods and systems for detection of a construction zone using information from a plurality of sources are described. In an example, a computing device, configured to control the vehicle, may be configured to receive information, from a plurality of sources, relating to detection of a construction zone on the road on which the vehicle is travelling. Also, the computing device may be configured to determine a likelihood of existence of the construction zone on the road, based on the information. Further the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle, based on the likelihood; and control the vehicle based on the modified control strategy.

    摘要翻译： 描述了使用来自多个源的信息来检测构造区域的方法和系统。 在一个示例中，被配置为控制车辆的计算设备可以被配置为从多个源接收关于在车辆行驶的道路上的建筑区域的检测的信息。 此外，计算设备可以被配置为基于该信息来确定道路上的建筑区域的存在的可能性。 此外，计算设备可以被配置为基于可能性修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。