公开(公告)号：US20170161910A1

公开(公告)日：2017-06-08

申请号：US15192603

申请日：2016-06-24

Applicant: QUALCOMM Incorporated

Inventor： Aliakbar AGHAMOHAMMADI ,  Saurav AGARWAL ,  Shayegan OMIDSHAFIEI ,  Kiran SOMASUNDARAM ,  Christopher LOTT ,  Bardia Fallah BEHABADI ,  Sarah Paige GIBSON ,  Casimir Matthew WIERZYNSKI ,  Gerhard REITMAYR ,  Serafin DIAZ

IPC: G06T7/20 ,  G05D1/02 ,  G06K9/62

CPC classification number: G05D1/0274 ,  G05D1/0251 ,  G06K9/00664 ,  G06K9/6277 ,  G06T7/579 ,  G06T2207/10021 ,  G06T2207/20076 ,  G06T2207/30252

Abstract: A method for defining a sensor model includes determining a probability of obtaining a measurement from multiple potential causes in a field of view of a sensor modeled based on a stochastic map. The stochastic map includes a mean occupancy level for each voxel in the stochastic map and a variance of the mean occupancy level for each pixel. The method also includes determining a probability of obtaining an image based on the determined probability of obtaining the measurement. The method further includes planning an action for a robot, comprising the sensor, based on the probability of obtaining the image.

公开(公告)号：US20160117822A1

公开(公告)日：2016-04-28

申请号：US14522233

申请日：2014-10-23

Applicant: QUALCOMM Incorporated

Inventor： Winston YII ,  Gerhard REITMAYR ,  Peter H. RAUBER ,  Qi PAN ,  Zsolt SZALAVARI ,  Michael GERVAUTZ

IPC: G06T7/00

CPC classification number: G06T7/0038 ,  G06T7/35 ,  G06T7/38 ,  G06T7/55 ,  G06T7/77 ,  G06T2207/10016 ,  G06T2207/20076 ,  G06T2207/30241 ,  G06T2207/30244

Abstract: Disclosed is a method and apparatus for selecting a part of SLAM map information of a first device for transmission to a second device in a collaborative SLAM environment. In one embodiment, the functions implemented include: determining whether a 3D registration transformation between a map of the first device and a map of the second device is available; and transmitting a part of map information of the first device to the second device according to one of a first strategy or a second strategy based on whether or not a 3D registration transformation between the map of the first device and the map of the second device is available.

Abstract translation: 公开了一种用于在协作SLAM环境中选择用于传输到第二设备的第一设备的SLAM映射信息的一部分的方法和装置。 在一个实施例中，所实现的功能包括：确定第一设备的地图和第二设备的地图之间的3D注册变换是否可用; 以及基于第一设备的映射与第二设备的映射之间的3D注册变换是否是第一策略或第二策略中的一个，将第一设备的映射信息的一部分发送到第二设备 可用。