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1. 发明授权

US08352072B2 System for extending the observation, surveillance, and navigational capabilities of a robot 有权
标题翻译：用于扩展机器人的观察，监视和导航能力的系统
公开(公告)号：US08352072B2
公开(公告)日：2013-01-08
申请号：US12671689
申请日：2008-08-07
申请人： Ehud Gal , Gennadiy Berinsky , Yosi Wolf
发明人： Ehud Gal , Gennadiy Berinsky , Yosi Wolf
IPC分类号： G06F19/00
CPC分类号： G05D1/0038 , G05D1/0242 , G05D1/0246 , G05D1/0259 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0209
摘要： The invention is a system that is integrated with an existing robotic system in order to extend its observation, surveillance, and navigational capabilities. The system comprises: a sensor module comprising imaging and other types of sensors that is attached to the robotic device of the robotic system and a system control station comprising a communication link to the robot control station of the existing robotic system. Both the system control station and the sensor module comprise processing units that are configured to work in complete harmony. These processing units are each supplied with software that enables using information supplied by the sensors and other components in the sensor module to provide the robotic systems with many advanced capabilities that could not be achieves prior to attachment of the sensor module to the robot.
摘要翻译：本发明是与现有机器人系统集成以便扩展其观察，监视和导航能力的系统。该系统包括：传感器模块，其包括附接到机器人系统的机器人装置的成像和其它类型的传感器，以及包括到现有机器人系统的机器人控制站的通信链路的系统控制站。系统控制站和传感器模块都包括被配置为完全和谐地工作的处理单元。这些处理单元各自提供有使得能够使用由传感器和传感器模块中的其他部件提供的信息的软件，以向机器人系统提供在将传感器模块附接到机器人之前无法实现的许多先进功能。

2. 发明申请

US20110035054A1 System for Extending The Observation, Surveillance, and Navigational Capabilities of a Robot 有权
标题翻译：扩展机器人的观察，监视和导航能力的系统
公开(公告)号：US20110035054A1
公开(公告)日：2011-02-10
申请号：US12671689
申请日：2008-08-07
申请人： Ehud Gal , Gennadiy Berinsky , Yosi Wolf
发明人： Ehud Gal , Gennadiy Berinsky , Yosi Wolf
IPC分类号： G05B19/02 , B25J13/08 , G06F15/00
CPC分类号： G05D1/0038 , G05D1/0242 , G05D1/0246 , G05D1/0259 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0209
摘要： The invention is a system that is integrated with an existing robotic system in order to extend its observation, surveillance, and navigational capabilities. The system comprises: a sensor module comprising imaging and other types of sensors that is attached to the robotic device of the robotic system and a system control station comprising a communication link to the robot control station of the existing robotic system. Both the system control station and the sensor module comprise processing units that are configured to work in complete harmony. These processing units are each supplied with software that enables using information supplied by the sensors and other components in the sensor module to provide the robotic systems with many advanced capabilities that could not be achieves prior to attachment of the sensor module to the robot.
摘要翻译：本发明是与现有机器人系统集成以便扩展其观察，监视和导航能力的系统。该系统包括：传感器模块，其包括附接到机器人系统的机器人装置的成像和其它类型的传感器，以及包括到现有机器人系统的机器人控制站的通信链路的系统控制站。系统控制站和传感器模块都包括被配置为完全和谐地工作的处理单元。这些处理单元各自提供有使得能够使用由传感器和传感器模块中的其他部件提供的信息的软件，以向机器人系统提供在将传感器模块附接到机器人之前无法实现的许多先进功能。

3. 发明申请

US20100179691A1 Robotic Platform 审中-公开
标题翻译：机器人平台
公开(公告)号：US20100179691A1
公开(公告)日：2010-07-15
申请号：US12598729
申请日：2008-05-01
申请人： Ehud Gal , Gennadiy Berinsky , Yosi Wolf
发明人： Ehud Gal , Gennadiy Berinsky , Yosi Wolf
IPC分类号： G05B15/00
CPC分类号： H04N5/232 , F41H7/005 , F41H7/03 , F41H11/16 , F41H13/00 , F42B12/365 , G05D1/0038 , G05D2201/0209 , H04N5/23216 , H04N7/185
摘要： The present invention is a robotic mobile platform vehicle that can be thrown into hostile or hazardous environments for gathering information and transmitting that information to a remotely located control station and a system comprising the robotic mobile platform. The system of the invention is adapted to provide it's operator with significant information without being exposed directly to actual or potential danger. One of the key features of the invention is that at least four imaging assemblies are mounted on the robotic platform and that the system has the processing ability to stitch the views taken by the four imaging devices together into an Omni-directional image, allowing simultaneous viewing of a 360 degree field of view surrounding the mobile platform. Another feature is that the system comprises a touch screen GUI and the robotic mobile platform is equipped with processing means and appropriate software. This combination enables the user to steer the robotic platform simply by touching an object in one of the displayed images that he wants to investigate. The robotic platform can then either point its sensors towards that object or, if so instructed, compute the direction to the object and travel to it without any further input from the user.
摘要翻译：本发明是一种机器人移动平台车辆，其可以被投掷到敌对或危险环境中，用于收集信息并将该信息发送到位于远程的控制站以及包括机器人移动平台的系统。本发明的系统适于为操作者提供重要信息，而不会直接暴露于实际或潜在的危险之中。本发明的主要特征之一是至少四个成像组件安装在机器人平台上，并且系统具有将四个成像装置拍摄的视图拼接成全方位图像的处理能力，允许同时观看 360度视野围绕移动平台。另一个特征是系统包括触摸屏GUI，并且机器人移动平台配备有处理装置和适当的软件。这种组合使用户能够简单地通过触摸他想要调查的显示图像之一上的物体来引导机器人平台。然后，机器人平台可以将其传感器指向该物体，或者如果这样指示，则计算物体的方向并行进到该物体，而无需用户的任何进一步的输入。

4. 发明授权

US08605993B2 Methods and systems of merging depth data from a plurality of disparity maps 有权
标题翻译：从多个视差图合并深度数据的方法和系统
公开(公告)号：US08605993B2
公开(公告)日：2013-12-10
申请号：US13300705
申请日：2011-11-21
申请人： Vadim Gusis , Yosi Wolf , Elad Levy , Ruthy Katz
发明人： Vadim Gusis , Yosi Wolf , Elad Levy , Ruthy Katz
IPC分类号： G06K9/00
CPC分类号： G06T5/50 , G06T7/596 , G06T2207/20221
摘要： A method of merging a plurality of disparity maps. The method comprises calculating a plurality of disparity maps each from images captured by another of a plurality of pairs of image sensors having stereoscopic fields of view (SFOVs) with at least one overlapping portion, the SFOVs covering a scene with a plurality of objects, identifying at least one of the plurality of objects in the at least one overlapping portion, the at least one object being mapped in each the disparity map, calculating accuracy of disparity values depicting the object in each the disparity map, merging depth data from the plurality of disparity maps according to the accuracy so as to provide a combined depth map wherein disparity values of the object are calculated according to one of the plurality of disparity maps, and outputting the depth data.
摘要翻译：一种合并多个视差图的方法。该方法包括从具有至少一个重叠部分的具有立体视场（SFOV）的多对成像图像传感器捕获的图像中计算多个视差图，SFOV用多个对象覆盖场景，识别在所述至少一个重叠部分中的所述多个对象中的至少一个，所述至少一个对象被映射在每个视差图中，计算描绘每个视差图中的对象的视差值的精度，来自所述多个对象的合并深度数据视差映射，以提供组合深度图，其中根据多个视差图之一计算对象的视差值，并输出深度数据。

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