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    • 1. 发明申请
    • Environment map building method, environment map building apparatus and mobile robot apparatus
    • 环境地图构建方法,环境地图建筑装置和移动机器人装置
    • US20060025888A1
    • 2006-02-02
    • US11165047
    • 2005-06-24
    • Steffen GutmannMasaki FukuchiKohtaro SabeJames Bruce
    • Steffen GutmannMasaki FukuchiKohtaro SabeJames Bruce
    • G06F19/00
    • G06K9/00664G06T7/593
    • An environment map building method and an environment map building apparatus can express the surrounding embodiment with a high resolution in the height direction in a manner robust relative to observation noises. The present invention provides an environment map building apparatus for building a three-dimensional environment map to be used for three-dimensionally determining a region allowing a moving body to move therein according to external environment conditions, which comprises an external environment conditions detecting section that detects external environment conditions, a three-dimensional map building section that builds a three-dimensional map showing the state of occupancy of a three-dimensional grid on the basis of the external environment conditions detected by the external environment conditions detecting section, a relative-to-base-plane height map building section that builds a relative-to-base-plane height map showing heights from a two-dimensional base plane on the basis of the external environment conditions detected by the external environment conditions detecting section, and a height map information modifying section that modifies the information of the relative-to-base-plane height map on the basis of the information on the three-dimensional map.
    • 环境地图构建方法和环境地图构建装置可以以相对于观察噪声鲁棒的方式在高度方向上以高分辨率表达周围的实施例。 本发明提供了一种用于构建三维环境图的环境地图构建装置,其用于三维地确定允许移动体根据外部环境条件在其中移动的区域,该外部环境条件包括外部环境条件检测部分,其检测 外部环境条件,基于由外部环境条件检测部检测到的外部环境条件构建表示三维网格的占有状态的三维地图的三维地图构建部,相对于 - 基平面高度图构建部,其基于由外部环境条件检测部检测到的外部环境条件,构建从二维基面显示高度的相对基准面高度图,以及高度图 信息修改部分,其修改相对于基站的信息, 平面高度图基于三维地图上的信息。
    • 7. 发明申请
    • METHODS AND APPARATUS FOR TITLE STRUCTURE AND MANAGEMENT
    • 标题结构与管理方法与装置
    • US20100162408A1
    • 2010-06-24
    • US12717007
    • 2010-03-03
    • Stefan RoeverKevin CollinsJosh C. DingAlex F. ClarkJames Bruce
    • Stefan RoeverKevin CollinsJosh C. DingAlex F. ClarkJames Bruce
    • G06F21/00
    • G06Q50/18G06F21/10G06Q10/10G06Q20/027G06Q20/0855G06Q20/12G06Q20/1235G06Q20/382G06Q20/401G06Q30/06
    • A title management apparatus resident on a first computer including a memory for storing a control program and data, and a processor for executing the control program and for managing the data. The apparatus includes user data resident in the memory including a set of user security indicia. The apparatus also includes a first title object resident in the memory including a title structure, the title structure further comprising a content element, a set of attributes, and a set of title object security indicia. The apparatus further includes a set of stub objects coupled to the title object, wherein the set of stub objects can further optimize the title structure; an authorization structure configured to selectively redeem the content element based at least in part of the user security indicia; and, a title management structure configured to associate a user with the first title object based at least in part of the user data and the title attributes.
    • 驻留在包括用于存储控制程序和数据的存储器的第一计算机上的标题管理装置,以及用于执行控制程序和用于管理数据的处理器。 该装置包括驻留在存储器中的用户数据,包括一组用户安全标记。 该装置还包括驻留在存储器中的第一标题对象,其包括标题结构,标题结构还包括内容元素,一组属性以及一组标题对象安全性标记。 所述设备还包括耦合到所述标题对象的一组存根对象,其中所述一组存根对象可进一步优化所述标题结构; 授权结构,被配置为至少部分地根据所述用户安全标记选择性地兑换所述内容元素; 以及标题管理结构,被配置为至少部分地根据用户数据和标题属性将用户与第一标题对象相关联。