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公开(公告)号：US10127677B1
公开(公告)日：2018-11-13
申请号：US15599232
申请日：2017-05-18
Applicant: X Development LLC
Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and using a spatio-temporal model that defines pose values for a plurality of objects in an environment and corresponding times associated with the pose values. Some implementations relate to using observations for one or more robots in an environment to generate a spatio-temporal model that defines pose values and corresponding times for multiple objects in the environment. In some of those implementations, the model is generated based on uncertainty measures associated with the pose values. Some implementations relate to utilizing a generated spatio-temporal model to determine the pose for each of one or more objects an environment at a target time. The pose for an object at a target time is determined based on one or more pose values for the object selected based on a corresponding measurement time, uncertainty measure, and/or source associated with the pose values.
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Patent Agency Ranking
公开(公告)号：US09744668B1
公开(公告)日：2017-08-29
申请号：US14832656
申请日：2015-08-21
Applicant: X Development LLC
Inventor： Jared Russell , Julian Mac Neille Mason , Kurt Mauro Dresner
CPC classification number: G05D1/0289 , Y10S901/01 , Y10S901/09
Abstract: Methods, apparatus, systems, and computer-readable media are provided for spatiotemporal reservations for robots. In various implementations, a sequence of spatial regions of an environment, and a sequence of respective time intervals that are reserved for a robot to operate within the sequence of spatial regions, may be reserved for the robot. A default path through the sequence of spatial regions may be identified. During traversal of the default path, it may be determined that the default path will be unpassable by the robot through a given spatial region during a given time interval reserved for the robot to operate within the given spatial region. Thus, an alternative path through the given spatial region that is traversable by the robot during the given time interval may be identified. The robot may then be traversed along the alternative path through the given spatial region within the given time interval.
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公开(公告)号：US09574883B2
公开(公告)日：2017-02-21
申请号：US14667655
申请日：2015-03-24
Applicant: X Development LLC
CPC classification number: G01C21/206 , G05B19/41895 , G05B2219/31007 , G05D1/0274 , G05D1/0297 , G05D2201/0216 , G06K9/00664 , G06Q10/08 , G09B29/004 , G09B29/007 , G09C1/00 , H03K19/17768 , H04L9/3278 , H04L2209/04 , H04L2209/12 , H04W4/043 , Y02P90/285 , Y02P90/60
Abstract: Systems and methods are provided for generating maps with semantic labels. A computing device can determine a first map that includes features located at first positions and semantic labels located at semantic positions, and determine a second map that includes at least some of the features located at second positions. The computing device can identify a first region with fixed features located at first positions and corresponding equivalent second positions. The computing device can identify a second region with moved features located at first positions and corresponding non-equivalent second positions. The computing device can determine one or more transformations between first positions and second positions. The computing device can assign the semantic labels to the second map at second semantic positions, where the second semantic positions are the same in the first region, and where the second semantic positions in the second region are based on the transformation(s).
Abstract translation: 提供了用于生成具有语义标签的地图的系统和方法。 计算设备可以确定包括位于位于语义位置处的第一位置和语义标签的特征的第一地图，并且确定包括位于第二位置的至少一些特征的第二地图。 计算设备可以识别具有位于第一位置和相应等效的第二位置的固定特征的第一区域。 计算设备可以识别具有位于第一位置和对应的非等效第二位置的移动特征的第二区域。 计算设备可以确定第一位置和第二位置之间的一个或多个变换。 计算设备可以在第二语义位置处将语义标签分配给第二映射，其中第二语义位置在第一区域中相同，并且第二区域中的第二语义位置基于变换。
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公开(公告)号：US20170095926A1
公开(公告)日：2017-04-06
申请号：US14875648
申请日：2015-10-05
Applicant: X Development LLC
Inventor： Rohit Ramesh Saboo , Julian Mac Neille Mason
CPC classification number: B25J9/1664 , B25J9/0084 , G05D1/0217 , G05D1/0274 , G05D1/0297 , G05D2201/0216 , G06Q10/06311 , Y10S901/01 , Y10S901/46
Abstract: Methods, apparatus, systems, and computer-readable media are provided for selectively deploying robots to performing mapping based on added cost. In various implementations, a measure of interest in mapping an area of an environment may be determined. A cost associated with a robot performing a task may also be determined. Then, an added cost associated with the robot mapping the area of the environment while performing the task may be determined. The robot may be selectively deployed to map the area while performing the task in response to a determination that the measure of interest justifies the added cost.
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公开(公告)号：US10369696B1
公开(公告)日：2019-08-06
申请号：US15641882
申请日：2017-07-05
Applicant: X Development LLC
Inventor： Jared Russell , Julian Mac Neille Mason , Kurt Mauro Dresner
IPC: B25J9/16
Abstract: Methods, apparatus, systems, and computer-readable media are provided for spatiotemporal reservations for robots. In various implementations, a sequence of spatial regions of an environment, and a sequence of respective time intervals that are reserved for a robot to operate within the sequence of spatial regions, may be reserved for the robot. A default path through the sequence of spatial regions may be identified. During traversal of the default path, it may be determined that the default path will be unpassable by the robot through a given spatial region during a given time interval reserved for the robot to operate within the given spatial region. Thus, an alternative path through the given spatial region that is traversable by the robot during the given time interval may be identified. The robot may then be traversed along the alternative path through the given spatial region within the given time interval.
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公开(公告)号：US09691151B1
公开(公告)日：2017-06-27
申请号：US14834980
申请日：2015-08-25
Applicant: X Development LLC
CPC classification number: G05D1/024 , G05D1/0251 , G05D1/0274 , G05D2201/0216 , H04N2013/0081
Abstract: Methods, apparatus, systems, and computer-readable media are provided for generating and using a spatio-temporal model that defines pose values for a plurality of objects in an environment and corresponding times associated with the pose values. Some implementations relate to using observations for one or more robots in an environment to generate a spatio-temporal model that defines pose values and corresponding times for multiple objects in the environment. In some of those implementations, the model is generated based on uncertainty measures associated with the pose values. Some implementations relate to utilizing a generated spatio-temporal model to determine the pose for each of one or more objects an environment at a target time. The pose for an object at a target time is determined based on one or more pose values for the object selected based on a corresponding measurement time, uncertainty measure, and/or source associated with the pose values.
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