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1. 发明授权

US07446766B2 Multidimensional evidence grids and system and methods for applying same 有权
标题翻译：多维证据网格及其应用的系统和方法
公开(公告)号：US07446766B2
公开(公告)日：2008-11-04
申请号：US11350195
申请日：2006-02-08
申请人： Hans Moravec
发明人： Hans Moravec
IPC分类号： G06T17/00
CPC分类号： G06K9/00664 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0274
摘要： A method of generating an evidence grid representing an environment comprises the steps of collecting a set of stereo images at multiple locations within the environment using stereo sensors, and processing the set of stereo images to determine occupancy and distance data associated with each point in space represented in the set of stereo images; applying a sensor model to each point in space to determine a probability of occupancy of each voxel representing each point in space; and generating an evidence grid of the environment by combining the probabilities for each voxel.
摘要翻译：一种产生表示环境的证据网格的方法包括以下步骤：使用立体声传感器在环境中的多个位置处收集一组立体图像，并且处理该立体图像集合以确定与空间中的每个点相关联的占用和距离数据在立体图像集中; 将传感器模型应用于空间中的每个点以确定表示空间中每个点的每个体素的占用概率; 并通过组合每个体素的概率来生成环境的证据网格。

2. 发明申请

US20060178828A1 Multidimensional evidence grids and system and methods for applying same 有权
标题翻译：多维证据网格及其应用的系统和方法
公开(公告)号：US20060178828A1
公开(公告)日：2006-08-10
申请号：US11350195
申请日：2006-02-08
申请人： Hans Moravec
发明人： Hans Moravec
IPC分类号： G01C21/32
CPC分类号： G06K9/00664 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0274
摘要： A method of generating an evidence grid representing an environment comprises the steps of collecting a set of stereo images at multiple locations within the environment using stereo sensors, and processing the set of stereo images to determine occupancy and distance data associated with each point in space represented in the set of stereo images; applying a sensor model to each point in space to determine a probability of occupancy of each voxel representing each point in space; and generating an evidence grid of the environment by combining the probabilities for each voxel.
摘要翻译：一种产生表示环境的证据网格的方法包括以下步骤：使用立体声传感器在环境中的多个位置处收集一组立体图像，并且处理该立体图像集合以确定与空间中的每个点相关联的占用和距离数据在立体图像集中; 将传感器模型应用于空间中的每个点以确定表示空间中每个点的每个体素的占用概率; 并通过组合每个体素的概率来生成环境的证据网格。

3. 发明授权

US08427472B2 Multidimensional evidence grids and system and methods for applying same 有权
标题翻译：多维证据网格及其应用的系统和方法
公开(公告)号：US08427472B2
公开(公告)日：2013-04-23
申请号：US12263983
申请日：2008-11-03
申请人： Hans Moravec
发明人： Hans Moravec
IPC分类号： G06T17/00
CPC分类号： G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0274
摘要： Mapping, localization, and navigation systems for use with a mobile unit are provided that use a sensor model with adjustable parameters. The system includes range sensors configured to collect range data and a data storage system having stored therein an evidence grid representing an environment and a sensor model comprising adjustable parameters representing inaccuracies of the range sensors. A grid engine adjusts the adjustable parameters based on received range data from the range sensors. A navigation module can direct the mobile unit though the environment using the evidence grid, received range data, and adjustable parameters. The grid engine can also locate the mobile unit within the environment by using the adjusted sensor model parameters to compare the received range data against the evidence grid.
摘要翻译：提供了与移动单元一起使用的映射，本地化和导航系统，其使用具有可调参数的传感器模型。系统包括被配置为收集范围数据的范围传感器和其中存储有表示环境的证据网格的数据存储系统和包括表示范围传感器的不准确性的可调节参数的传感器模型。电网发动机根据距离传感器的接收范围数据调整可调参数。导航模块可以使用证据网格，接收范围数据和可调整的参数来引导移动单元通过环境。网格引擎还可以通过使用调整的传感器模型参数来将移动单元定位在环境内，以将接收的范围数据与证据网格进行比较。

4. 发明申请

US20130201296A1 MULTI-CAMERA HEAD 审中-公开
标题翻译：多相机头
公开(公告)号：US20130201296A1
公开(公告)日：2013-08-08
申请号：US13836619
申请日：2013-03-15
申请人： Mitchell Weiss , Hans Moravec
发明人： Mitchell Weiss , Hans Moravec
IPC分类号： H04N13/02
CPC分类号： H04N13/243 , H04N2213/001
摘要： A multi-camera head includes a plurality of stereo cameras mounted together and having their fields of view projecting in different directions, where the fields of view may or may not overlap. The cameras can be mounted to different sides of a frame and can be used in mobile contexts for mapping, navigation, or both, as examples. One or more of the cameras can be pitched at an angle, and a method may be provided for graphically viewing and analyzing field of view projections of the cameras considering the pitch angle.
摘要翻译：多摄像机头包括安装在一起并且具有在不同方向上突出的视场的多个立体照相机，其中视野可以重叠或不重叠。摄像机可以安装到帧的不同侧，并且可以用于移动上下文中用于映射，导航或两者，例如。摄像机中的一个或多个可以以一定角度倾斜，并且可以提供一种考虑俯仰角度来图形地观看和分析摄像机的视野投影的方法。

5. 发明申请

US20090119010A1 MULTIDIMENSIONAL EVIDENCE GRIDS AND SYSTEM AND METHODS FOR APPLYING SAME 有权
标题翻译：多重证据网格和系统及其应用方法
公开(公告)号：US20090119010A1
公开(公告)日：2009-05-07
申请号：US12263983
申请日：2008-11-03
申请人： Hans Moravec
发明人： Hans Moravec
IPC分类号： G01C21/00
CPC分类号： G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0274
摘要： Mapping, localization, and navigation systems for use with a mobile unit are provided that use a sensor model with adjustable parameters. The system includes range sensors configured to collect range data and a data storage system having stored therein an evidence grid representing an environment and a sensor model comprising adjustable parameters representing inaccuracies of the range sensors. A grid engine adjusts the adjustable parameters based on received range data from the range sensors. A navigation module can direct the mobile unit though the environment using the evidence grid, received range data, and adjustable parameters. The grid engine can also locate the mobile unit within the environment by using the adjusted sensor model parameters to compare the received range data against the evidence grid.
摘要翻译：提供了与移动单元一起使用的映射，本地化和导航系统，其使用具有可调参数的传感器模型。系统包括被配置为收集范围数据的范围传感器和其中存储有表示环境的证据网格的数据存储系统和包括表示范围传感器的不准确性的可调节参数的传感器模型。电网发动机根据距离传感器的接收范围数据调整可调参数。导航模块可以使用证据网格，接收范围数据和可调整的参数来引导移动单元通过环境。网格引擎还可以通过使用调整的传感器模型参数来将移动单元定位在环境内，以将接收的范围数据与证据网格进行比较。

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