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1. 发明申请

US20140031980A1 SYSTEMS AND METHODS FOR EXTENDING SLAM TO MULTIPLE REGIONS 审中-公开
标题翻译：将SLAM扩展到多个区域的系统和方法
公开(公告)号：US20140031980A1
公开(公告)日：2014-01-30
申请号：US13673935
申请日：2012-11-09
申请人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
发明人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
IPC分类号： G01C21/12 , G01S17/06
CPC分类号： G01C21/12 , G01S17/06 , G05D1/0231 , G05D1/0234 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0207 , Y10S901/01 , Y10S901/47
摘要： Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.
摘要翻译：矢量场SLAM是一种用于在来自连续信号（例如WiFi或活动信标）的未知环境中定位移动机器人的方法。公开了一种用于在相对较大和/或不同的区域中定位机器人的技术。这是通过使用和管理更多的信号源来覆盖较大的区域来实现的。一个特征分析了矢量场SLAM相对于面积大小和信号数量的复杂度，然后描述了一个近似值，它将本地化图解耦，以保持内存和运行时间要求较低。还公开了一种用于在已经映射的区域中重新定位机器人的跟踪方法。这允许在暂停或被绑架之后恢复机器人，例如由用户拾取和移动。本发明的实施例可以包括商业上的低成本产品，包括用于自主清洁地板的机器人。

2. 发明申请

US20130138246A1 MANAGEMENT OF RESOURCES FOR SLAM IN LARGE ENVIRONMENTS 有权
标题翻译：大型环境中SLAM资源管理
公开(公告)号：US20130138246A1
公开(公告)日：2013-05-30
申请号：US13673926
申请日：2012-11-09
申请人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
发明人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
IPC分类号： G05D1/02
CPC分类号： G01C21/12 , G01S17/06 , G05D1/0231 , G05D1/0234 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0207 , Y10S901/01 , Y10S901/47
摘要： Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.
摘要翻译：矢量场SLAM是一种用于在来自连续信号（例如WiFi或活动信标）的未知环境中定位移动机器人的方法。公开了一种用于在相对较大和/或不同的区域中定位机器人的技术。这是通过使用和管理更多的信号源来覆盖较大的区域来实现的。一个特征分析了矢量场SLAM相对于面积大小和信号数量的复杂度，然后描述了一个近似值，它将本地化图解耦，以保持内存和运行时间要求较低。还公开了一种用于在已经映射的区域中重新定位机器人的跟踪方法。这允许在暂停或被绑架之后恢复机器人，例如由用户拾取和移动。本发明的实施例可以包括商业上的低成本产品，包括用于自主清洁地板的机器人。

3. 发明授权

US09250081B2 Management of resources for SLAM in large environments 有权
标题翻译：在大型环境中管理SLAM的资源
公开(公告)号：US09250081B2
公开(公告)日：2016-02-02
申请号：US13673926
申请日：2012-11-09
申请人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
发明人： Jens-Steffen Gutmann , Dhiraj Goel , Mario E. Munich
IPC分类号： G05B19/18 , G01C21/12 , G05D1/02 , G01S17/06
CPC分类号： G01C21/12 , G01S17/06 , G05D1/0231 , G05D1/0234 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0207 , Y10S901/01 , Y10S901/47
摘要： Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.
摘要翻译：矢量场SLAM是一种用于在来自连续信号（例如WiFi或活动信标）的未知环境中定位移动机器人的方法。公开了一种用于在相对较大和/或不同的区域中定位机器人的技术。这是通过使用和管理更多的信号源来覆盖较大的区域来实现的。一个特征分析了矢量场SLAM相对于面积大小和信号数量的复杂度，然后描述了一个近似值，它将本地化图解耦，以保持内存和运行时间要求较低。还公开了一种用于在已经映射的区域中重新定位机器人的跟踪方法。这允许在暂停或被绑架之后恢复机器人，例如由用户拾取和移动。本发明的实施例可以包括商业上的低成本产品，包括用于自主清洁地板的机器人。

4. 发明申请

US20130138247A1 RE-LOCALIZATION OF A ROBOT FOR SLAM 有权
标题翻译： SLA机器人的重新定位
公开(公告)号：US20130138247A1
公开(公告)日：2013-05-30
申请号：US13673928
申请日：2012-11-09
申请人： Jens-Steffen Gutmann , Philip Fong , Mario E. Munich
发明人： Jens-Steffen Gutmann , Philip Fong , Mario E. Munich
IPC分类号： G05D1/02
CPC分类号： G01C21/12 , G01S17/06 , G05D1/0231 , G05D1/0234 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0207 , Y10S901/01 , Y10S901/47
摘要： Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.
摘要翻译：矢量场SLAM是一种用于在来自连续信号（例如WiFi或活动信标）的未知环境中定位移动机器人的方法。公开了一种用于在相对较大和/或不同的区域中定位机器人的技术。这是通过使用和管理更多的信号源来覆盖较大的区域来实现的。一个特征分析了矢量场SLAM相对于面积大小和信号数量的复杂度，然后描述了一个近似值，它将本地化图解耦，以保持内存和运行时间要求较低。还公开了一种用于在已经映射的区域中重新定位机器人的跟踪方法。这允许在暂停或被绑架之后恢复机器人，例如由用户拾取和移动。本发明的实施例可以包括商业上的低成本产品，包括用于自主清洁地板的机器人。

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