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1. 发明申请

US20090319169A1 SYSTEM AND METHOD FOR CREATING, STORING AND UTILIZING IMAGES OF A GEOGRAPHIC LOCATION 有权
标题翻译：用于创建，存储和利用地理位置图像的系统和方法
公开(公告)号：US20090319169A1
公开(公告)日：2009-12-24
申请号：US12482314
申请日：2009-06-10
申请人： Enrico DiBernardo , Luis F. Goncalves
发明人： Enrico DiBernardo , Luis F. Goncalves
IPC分类号： G01C21/26 , G06F17/00
CPC分类号： G01C21/00 , G01C11/02 , G06F17/30241 , G06T3/4038 , H04N1/3876 , H04N5/77
摘要： A system and method synthesizing images of a locale to generate a composite image that provide a panoramic view of the locale. A video camera moves along a street recording images of objects along the street. A GPS receiver and inertial navigation system provide the position of the camera as the images are being recorded. The images are indexed with the position data provided by the GPS receiver and inertial navigation system. The composite image is created on a column-by-column basis by determining which of the acquired images contains the desired pixel column, extracting the pixels associated with the column, and stacking the columns side by side. The composite images are stored in an image database and associated with a street name and number range of the street being depicted in the image. The image database covers a substantial amount of a geographic area allowing a user to visually navigate the area from a user terminal.
摘要翻译：合成区域的图像的系统和方法，以生成提供该区域的全景视图的合成图像。摄像机沿着一条街道沿着街道记录物体的图像。 GPS接收机和惯性导航系统在记录图像时提供相机的位置。图像由GPS接收机和惯性导航系统提供的位置数据进行索引。通过确定哪个获取的图像包含期望的像素列，提取与列相关联的像素，并且并排堆叠列，逐列地创建合成图像。合成图像存储在图像数据库中，并与图像中描绘的街道的街道名称和数字范围相关联。图像数据库覆盖大量的地理区域，允许用户从用户终端可视地浏览该区域。

2. 发明授权

US07805025B2 System and method for creating, storing and utilizing images of a geographic location 有权
公开(公告)号：US07805025B2
公开(公告)日：2010-09-28
申请号：US12482314
申请日：2009-06-10
申请人： Enrico DiBernardo , Luis F. Goncalves
发明人： Enrico DiBernardo , Luis F. Goncalves
IPC分类号： G06K9/60 , G08G1/123 , H04N7/00 , G01C21/00
CPC分类号： G01C21/00 , G01C11/02 , G06F17/30241 , G06T3/4038 , H04N1/3876 , H04N5/77
摘要： A system and method synthesizing images of a locale to generate a composite image that provide a panoramic view of the locale. A video camera moves along a street recording images of objects along the street. A GPS receiver and inertial navigation system provide the position of the camera as the images are being recorded. The images are indexed with the position data provided by the GPS receiver and inertial navigation system. The composite image is created on a column-by-column basis by determining which of the acquired images contains the desired pixel column, extracting the pixels associated with the column, and stacking the columns side by side. The composite images are stored in an image database and associated with a street name and number range of the street being depicted in the image. The image database covers a substantial amount of a geographic area allowing a user to visually navigate the area from a user terminal.

3. 发明申请

US20100228421A1 METHODS AND APPARATUS FOR POSITION ESTIMATION USING REFLECTED LIGHT SOURCES 有权
标题翻译：使用反射光源的位置估计的方法和装置
公开(公告)号：US20100228421A1
公开(公告)日：2010-09-09
申请号：US12780746
申请日：2010-05-14
申请人： Enrico DiBernardo , Paolo Pirjanian
发明人： Enrico DiBernardo , Paolo Pirjanian
IPC分类号： G05D1/00 , G01C3/08
CPC分类号： G01B11/002 , G01C3/06 , G01S5/163 , G01S17/06 , G01S17/48 , G05D1/0234
摘要： The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.
摘要翻译：本发明通常涉及使用反射光源相对于局部或全局坐标系的估计对象的位置和取向。所述方法和装置的典型应用包括估计和跟踪移动自主机器人的位置。其他应用包括用于位置感知，普遍存在的设备的对象的估计和跟踪。其他应用包括追踪人或宠物在室内环境中的位置。该方法和装置包括至少部分地基于信号的检测的一个或多个光发射器，一个或多个光学传感器，信号处理电路和信号处理方法来确定至少一个光学传感器的位置和取向从表面反射的一个或多个发射光源。

4. 发明授权

US07720554B2 Methods and apparatus for position estimation using reflected light sources 有权
标题翻译：使用反射光源进行位置估计的方法和装置
公开(公告)号：US07720554B2
公开(公告)日：2010-05-18
申请号：US11090621
申请日：2005-03-25
申请人： Enrico DiBernardo , Paolo Pirjanian
发明人： Enrico DiBernardo , Paolo Pirjanian
IPC分类号： G05B19/18
CPC分类号： G01B11/002 , G01C3/06 , G01S5/163 , G01S17/06 , G01S17/48 , G05D1/0234
摘要： The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.
摘要翻译：本发明通常涉及使用反射光源相对于局部或全局坐标系的估计对象的位置和取向。所述方法和装置的典型应用包括估计和跟踪移动自主机器人的位置。其他应用包括用于位置感知，无所不在的设备的对象的估计和跟踪。其他应用包括追踪人或宠物在室内环境中的位置。该方法和装置包括至少部分地基于信号的检测的一个或多个光发射器，一个或多个光学传感器，信号处理电路和信号处理方法来确定至少一个光学传感器的位置和取向从表面反射的一个或多个发射光源。

5. 发明申请

US20050213082A1 Methods and apparatus for position estimation using reflected light sources 有权
标题翻译：使用反射光源进行位置估计的方法和装置
公开(公告)号：US20050213082A1
公开(公告)日：2005-09-29
申请号：US11090621
申请日：2005-03-25
申请人： Enrico DiBernardo , Paolo Pirjanian
发明人： Enrico DiBernardo , Paolo Pirjanian
IPC分类号： G01C3/00 , G01C3/08 , G01C5/00 , G01S5/16 , G01S17/06 , G01S17/48 , G05D1/02
CPC分类号： G01B11/002 , G01C3/06 , G01S5/163 , G01S17/06 , G01S17/48 , G05D1/0234
摘要： The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.
摘要翻译：本发明通常涉及使用反射光源相对于局部或全局坐标系的估计对象的位置和取向。所述方法和装置的典型应用包括估计和跟踪移动自主机器人的位置。其他应用包括用于位置感知，普遍存在的设备的对象的估计和跟踪。其他应用包括追踪人或宠物在室内环境中的位置。该方法和装置包括至少部分地基于信号的检测的一个或多个光发射器，一个或多个光学传感器，信号处理电路和信号处理方法来确定至少一个光学传感器的位置和取向从表面反射的一个或多个发射光源。

6. 发明授权

US07996097B2 Methods and apparatus for position estimation using reflected light sources 有权
标题翻译：使用反射光源进行位置估计的方法和装置
公开(公告)号：US07996097B2
公开(公告)日：2011-08-09
申请号：US12780746
申请日：2010-05-14
申请人： Enrico DiBernardo , Paolo Pirjanian
发明人： Enrico DiBernardo , Paolo Pirjanian
IPC分类号： G05B19/18
CPC分类号： G01B11/002 , G01C3/06 , G01S5/163 , G01S17/06 , G01S17/48 , G05D1/0234
摘要： The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.
摘要翻译：本发明通常涉及使用反射光源相对于局部或全局坐标系的估计对象的位置和取向。所述方法和装置的典型应用包括估计和跟踪移动自主机器人的位置。其他应用包括用于位置感知，无所不在的设备的对象的估计和跟踪。其他应用包括追踪人或宠物在室内环境中的位置。该方法和装置包括至少部分地基于信号的检测的一个或多个光发射器，一个或多个光学传感器，信号处理电路和信号处理方法来确定至少一个光学传感器的位置和取向从表面反射的一个或多个发射光源。

7. 发明授权

US08295955B2 Methods and apparatus for position estimation using reflected light sources 有权
标题翻译：使用反射光源进行位置估计的方法和装置
公开(公告)号：US08295955B2
公开(公告)日：2012-10-23
申请号：US13204075
申请日：2011-08-05
申请人： Enrico DiBernardo , Paolo Pirjanian
发明人： Enrico DiBernardo , Paolo Pirjanian
IPC分类号： G05B19/18
CPC分类号： G01B11/002 , G01C3/06 , G01S5/163 , G01S17/06 , G01S17/48 , G05D1/0234
摘要： The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.
摘要翻译：本发明通常涉及使用反射光源相对于局部或全局坐标系的估计对象的位置和取向。所述方法和装置的典型应用包括估计和跟踪移动自主机器人的位置。其他应用包括用于位置感知，普遍存在的设备的对象的估计和跟踪。其他应用包括追踪人或宠物在室内环境中的位置。该方法和装置包括至少部分地基于信号的检测的一个或多个光发射器，一个或多个光学传感器，信号处理电路和信号处理方法来确定至少一个光学传感器的位置和取向从表面反射的一个或多个发射光源。

8. 发明申请

US20120022785A1 METHODS AND APPARATUS FOR POSITION ESTIMATION USING REFLECTED LIGHT SOURCES 有权
标题翻译：使用反射光源的位置估计的方法和装置
公开(公告)号：US20120022785A1
公开(公告)日：2012-01-26
申请号：US13204075
申请日：2011-08-05
申请人： Enrico DiBernardo , Paolo Pirjanian
发明人： Enrico DiBernardo , Paolo Pirjanian
IPC分类号： G01S17/89
CPC分类号： G01B11/002 , G01C3/06 , G01S5/163 , G01S17/06 , G01S17/48 , G05D1/0234
摘要： The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.
摘要翻译：本发明通常涉及使用反射光源相对于局部或全局坐标系的估计对象的位置和取向。所述方法和装置的典型应用包括估计和跟踪移动自主机器人的位置。其他应用包括用于位置感知，普遍存在的设备的对象的估计和跟踪。其他应用包括追踪人或宠物在室内环境中的位置。该方法和装置包括至少部分地基于信号的检测的一个或多个光发射器，一个或多个光学传感器，信号处理电路和信号处理方法来确定至少一个光学传感器的位置和取向从表面反射的一个或多个发射光源。

9. 发明申请

US20060020369A1 Robot vacuum cleaner 审中-公开
标题翻译：机器人吸尘器
公开(公告)号：US20060020369A1
公开(公告)日：2006-01-26
申请号：US11171031
申请日：2005-06-30
申请人： Charles Taylor , Andrew Parker , Shek Lau , Eric Blair , Andrew Heninger , Eric Ng , Enrico DiBernardo , Robert Witman , Michael Stout
发明人： Charles Taylor , Andrew Parker , Shek Lau , Eric Blair , Andrew Heninger , Eric Ng , Enrico DiBernardo , Robert Witman , Michael Stout
IPC分类号： G06F19/00
CPC分类号： A47L9/009 , A47L9/2805 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2884 , A47L9/2889 , A47L9/2894 , A47L2201/04 , G05D1/0219 , G05D1/0227 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0215
摘要： The invention covers a robot cleaner that includes a cleaning unit and wheels to move the robot cleaner. The robot cleaner also includes a processor for controlling cleaning that is capable of estimating the size of a room based on distances between obstacles. The robot cleaner has several modes of operation that allow it to clean an entire room more effectively.
摘要翻译：本发明涉及一种机器人清洁器，其包括清洁单元和用于移动机器人清洁器的轮子。机器人清洁器还包括用于控制清洁的处理器，其能够基于障碍物之间的距离来估计房间的尺寸。机器人清洁器具有多种操作模式，可以更有效地清洁整个房间。

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