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1. 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。

2. 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。

3. 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。

4. 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。

5. 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。

6. 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。

7. 发明授权

US08508388B2 Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system 有权
公开(公告)号：US08508388B2
公开(公告)日：2013-08-13
申请号：US13615174
申请日：2012-09-13
申请人： L. Niklas Karlsson , Paolo Pirjanian , Luis Filipe Domingues Goncalves , Enrico Di Bernardo
发明人： L. Niklas Karlsson , Paolo Pirjanian , Luis Filipe Domingues Goncalves , Enrico Di Bernardo
IPC分类号： G08G1/123
CPC分类号： G05D1/0246 , G01C21/12 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0215 , G06T7/55 , G06T7/70 , G06T7/74 , G06T2207/30204 , Y10S901/01 , Y10S901/46 , Y10S901/47 , Y10S901/50
摘要： The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

8. 发明授权

US07925381B2 Hardware abstraction layer (HAL) for a robot 有权
标题翻译：机器人的硬件抽象层（HAL）
公开(公告)号：US07925381B2
公开(公告)日：2011-04-12
申请号：US11945893
申请日：2007-11-27
申请人： Thomas J. Murray, IV , Baoquoc N. Pham , Paolo Pirjanian
发明人： Thomas J. Murray, IV , Baoquoc N. Pham , Paolo Pirjanian
IPC分类号： G06F19/00 , G05B19/18
CPC分类号： G06N3/008 , B25J9/161 , B25J9/1661 , B25J9/1666 , G05B2219/40389 , G05B2219/40397 , G05D1/0088 , G05D2201/02 , G06F9/455 , Y10T436/11
摘要： Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.
摘要翻译：公开了一种为机器人提供硬件抽象层（HAL）的方法和装置。 HAL可以作为软件层或驻留在机器人控制软件和底层机器人硬件和/或硬件的操作系统之间的固件层存在。 HAL为底层硬件的聚合提供了相对均匀的抽象，使得潜在的机器人硬件对感知和控制软件即机器人控制软件是透明的。这有利地允许以机器人独立的方式写入机器人控制软件。机器人控制软件的开发者然后摆脱繁琐的低级任务。便携性是另一个优点。例如，HAL有效地允许为一个机器人开发的机器人控制软件移植到另一个机器人。在一个示例中，HAL允许从轮式机器人移植相同的导航算法，并在人形腿式机器人上使用。

9. 发明申请

US20100280754A1 SYSTEMS AND METHODS FOR ADDING LANDMARKS FOR VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING 有权
标题翻译：用于为视觉同时定位和映射添加地名的系统和方法
公开(公告)号：US20100280754A1
公开(公告)日：2010-11-04
申请号：US12839793
申请日：2010-07-20
申请人： Luis Filipe Domingues Goncalves , Enrico Di Bernardo , Paolo Pirjanian , L. Niklas Karlsson
发明人： Luis Filipe Domingues Goncalves , Enrico Di Bernardo , Paolo Pirjanian , L. Niklas Karlsson
IPC分类号： G01C21/00 , G01C21/12
CPC分类号： G05D1/0246 , G01C21/12 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0215 , G06T7/55 , G06T7/70 , G06T7/74 , G06T2207/30204 , Y10S901/01 , Y10S901/46 , Y10S901/47 , Y10S901/50
摘要： The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
摘要翻译：本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。这些技术可用于机器人导航。有利地，可以使用这种可视化技术来自主地生成和更新地图。与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

10. 发明授权

US07774158B2 Systems and methods for landmark generation for visual simultaneous localization and mapping 有权
标题翻译：用于视觉同步定位和映射的地标生成的系统和方法
公开(公告)号：US07774158B2
公开(公告)日：2010-08-10
申请号：US10739935
申请日：2003-12-17
申请人： Luis Filipe Domingues Goncalves , Enrico Di Bernardo , Paolo Pirjanian , L. Niklas Karlsson
发明人： Luis Filipe Domingues Goncalves , Enrico Di Bernardo , Paolo Pirjanian , L. Niklas Karlsson
IPC分类号： G01C21/00
CPC分类号： G05D1/0246 , G01C21/12 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0215 , G06T7/55 , G06T7/70 , G06T7/74 , G06T2207/30204 , Y10S901/01 , Y10S901/46 , Y10S901/47 , Y10S901/50
摘要： The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
摘要翻译：本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。这些技术可用于机器人导航。有利地，可以使用这种可视化技术来自主地生成和更新地图。与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

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