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1. 发明授权

US09286810B2 Systems and methods for VSLAM optimization 有权
标题翻译： VSLAM优化的系统和方法
公开(公告)号：US09286810B2
公开(公告)日：2016-03-15
申请号：US13244221
申请日：2011-09-23
申请人： Ethan Eade , Mario E. Munich , Philip Fong
发明人： Ethan Eade , Mario E. Munich , Philip Fong
IPC分类号： G09B29/00
CPC分类号： G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0215 , G06F17/30061 , G06F17/30241 , G06F17/30386 , G06F17/3053 , G06K9/2054 , G06K9/6201 , G09B29/007
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. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.
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。某些实施例考虑了在基于SLAM的系统中对前端处理的改进。特别地，这些实施方案中的某些考虑了新颖的地标匹配过程。这些实施例中的某些也考虑了一个新颖的地标创建过程。某些实施例考虑了对基于SLAM的系统中的后端处理的改进。特别地，这些实施例中的某些设想了用于实时修改SLAM图的算法以实现更有效的结构。

2. 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。

3. 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。

4. 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。

5. 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。

6. 发明申请

US20120121161A1 SYSTEMS AND METHODS FOR VSLAM OPTIMIZATION 有权
标题翻译：用于VSLAM优化的系统和方法
公开(公告)号：US20120121161A1
公开(公告)日：2012-05-17
申请号：US13244221
申请日：2011-09-23
申请人： Ethan Eade , Mario E. Munich , Philip Fong
发明人： Ethan Eade , Mario E. Munich , Philip Fong
IPC分类号： G06K9/00
CPC分类号： G05D1/0246 , G05D1/0253 , G05D1/0274 , G05D2201/0215 , G06F17/30061 , G06F17/30241 , G06F17/30386 , G06F17/3053 , G06K9/2054 , G06K9/6201 , G09B29/007
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. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.
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，并且可以用于相对动态的环境中，例如人们移动的环境。某些实施例考虑了在基于SLAM的系统中对前端处理的改进。特别地，这些实施方案中的某些考虑了新颖的地标匹配过程。这些实施例中的某些也考虑了一个新颖的地标创建过程。某些实施例考虑了对基于SLAM的系统中的后端处理的改进。特别地，这些实施例中的某些设想了用于实时修改SLAM图的算法以实现更有效的结构。

7. 发明授权

US06633671B2 Camera-based handwriting tracking 有权
标题翻译：基于相机的手写跟踪
公开(公告)号：US06633671B2
公开(公告)日：2003-10-14
申请号：US09239920
申请日：1999-01-28
申请人： Mario E. Munich , Pietro Perona
发明人： Mario E. Munich , Pietro Perona
IPC分类号： G06K900
CPC分类号： G06F3/0425 , G06K9/00154 , G06K9/00181 , G07C9/0015
摘要： A system for processing handwriting that uses an ordinary camera as an image input device. The output of a single camera is used to produce a probability function that indicates the likelihood of whether the pen is touching the paper. The function uses clues including ink on the page and/or shadows. Another embodiment uses both pen up and pen down information to dynamically time warp-fit the information to fit it to a template.
摘要翻译：一种用于处理使用普通相机作为图像输入装置的笔迹的系统。单个相机的输出用于产生指示笔是否接触纸张的可能性的概率函数。该功能使用线索，包括页面上的墨水和/或阴影。另一个实施例使用笔和下笔信息来动态地将时间扭曲以适应信息到模板。

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