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Patent Agency Ranking
公开(公告)号：US10824160B2
公开(公告)日：2020-11-03
申请号：US16150482
申请日：2018-10-03
Applicant: X Development LLC
Inventor： Dirk Holz , Elizabeth Murphy
Abstract: One method disclosed includes identifying, in a map of markers fixed in an environment, two co-located markers within a threshold distance of each other, where each of the two co-located markers has a non-overlapping visibility region. The method further includes determining a set of detected markers based on sensor data from a robotic device. The method additionally includes identifying, from the set of detected markers, a detected marker proximate to a first marker of the two co-located markers. The method also includes enforcing a visibility constraint based on the non-overlapping visibility region of each of the two co-located markers to determine an association between the detected marker and a second marker of the two co-located markers. The method further includes determining a location of the robotic device in the environment relative to the map based on the determined association.
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公开(公告)号：US20200103917A1
公开(公告)日：2020-04-02
申请号：US16147082
申请日：2018-09-28
Applicant: X Development LLC
Inventor： Elizabeth Murphy , Dirk Holz
Abstract: One method disclosed includes determining a map of markers fixed in an environment, where the map of markers includes a location and an orientation of each marker. The method further includes determining locations of a set of detected markers relative to the map based on a location of a robotic device relative to the map and based on sensor data from the robotic device. The method also includes associating a detected marker from the set of detected markers with a mapped marker based on the determined location of the detected marker relative to the map and based on a visibility constraint related to the orientation of the mapped marker. The method additionally includes adjusting, in the map, the orientation of the mapped marker based on the determined location of the detected marker relative to the map.
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公开(公告)号：US20210011482A1
公开(公告)日：2021-01-14
申请号：US17034795
申请日：2020-09-28
Applicant: X Development LLC
Inventor： Dirk Holz , Elizabeth Murphy
Abstract: One method disclosed includes identifying, in a map of markers fixed in an environment, two co-located markers within a threshold distance of each other, where each of the two co-located markers has a non-overlapping visibility region. The method further includes determining a set of detected markers based on sensor data from a robotic device. The method additionally includes identifying, from the set of detected markers, a detected marker proximate to a first marker of the two co-located markers. The method also includes enforcing a visibility constraint based on the non-overlapping visibility region of each of the two co-located markers to determine an association between the detected marker and a second marker of the two co-located markers. The method further includes determining a location of the robotic device in the environment relative to the map based on the determined association.
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公开(公告)号：US10852740B2
公开(公告)日：2020-12-01
申请号：US16147082
申请日：2018-09-28
Applicant: X Development LLC
Inventor： Elizabeth Murphy , Dirk Holz
Abstract: One method disclosed includes determining a map of markers fixed in an environment, where the map of markers includes a location and an orientation of each marker. The method further includes determining locations of a set of detected markers relative to the map based on a location of a robotic device relative to the map and based on sensor data from the robotic device. The method also includes associating a detected marker from the set of detected markers with a mapped marker based on the determined location of the detected marker relative to the map and based on a visibility constraint related to the orientation of the mapped marker. The method additionally includes adjusting, in the map, the orientation of the mapped marker based on the determined location of the detected marker relative to the map.
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公开(公告)号：US20200103914A1
公开(公告)日：2020-04-02
申请号：US16150482
申请日：2018-10-03
Applicant: X Development LLC
Inventor： Dirk Holz , Elizabeth Murphy
Abstract: One method disclosed includes identifying, in a map of markers fixed in an environment, two co-located markers within a threshold distance of each other, where each of the two co-located markers has a non-overlapping visibility region. The method further includes determining a set of detected markers based on sensor data from a robotic device. The method additionally includes identifying, from the set of detected markers, a detected marker proximate to a first marker of the two co-located markers. The method also includes enforcing a visibility constraint based on the non-overlapping visibility region of each of the two co-located markers to determine an association between the detected marker and a second marker of the two co-located markers. The method further includes determining a location of the robotic device in the environment relative to the map based on the determined association.
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