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公开(公告)号：US09195906B2
公开(公告)日：2015-11-24
申请号：US14202576
申请日：2014-03-10
申请人： Google Inc.
CPC分类号： G06K9/469 , G06K9/6218 , G06T7/11 , G06T2207/10032 , G06T2207/30184
摘要： Systems and methods for extracting regions from occupancy grids are provided. One example method includes performing a plurality of assignment iterations. Each assignment iteration includes assigning each of a first plurality of cells to one of a plurality of centroids based on a cost formula such that a plurality of regions respectively associated with the plurality of centroids are formed. The region for each centroid comprises all of the cells assigned to such centroid. Each assignment iteration includes reassigning one or more of the first plurality of cells to one or more respective alternate regions. The one or more reassigned cells were included in one or more problem areas of one or more of the plurality of regions. Each assignment iteration includes relocating the plurality of centroids to be the respective means of the plurality of regions. One example system includes computing devices implementing instructions stored on non-transitory computer-readable media.
摘要翻译： 提供了从占用网格中提取区域的系统和方法。 一个示例性方法包括执行多个分配迭代。 每个分配迭代包括基于成本公式将第一多个单元中的每一个分配给多个质心中的每一个，使得形成分别与多个质心相关联的多个区域。 每个质心的区域包括分配给这种质心的所有单元格。 每个分配迭代包括将第一多个小区中的一个或多个重新分配给一个或多个相应的替代区域。 一个或多个重新分配的小区被包括在多个区域中的一个或多个的一个或多个问题区域中。 每个分配迭代包括将多个质心重定位为多个区域的相应装置。 一个示例性系统包括实现存储在非暂时性计算机可读介质上的指令的计算设备。
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2.发明申请Methods and Systems for Modifying a Display of a Field of View of a Robotic Device to Include Zoomed-in and Zoomed-out Views 有权用于修改机器人设备的视野显示的方法和系统以包括放大和缩小视图公开(公告)号：US20140362121A1
公开(公告)日：2014-12-11
申请号：US14459437
申请日：2014-08-14
申请人： Google Inc.
发明人： Munjal Desai , Ryan Hickman , Thor Lewis , Damon Kohler
CPC分类号： G06T3/0006 , G01C3/08 , G06T2211/428 , G09G5/00 , H04N7/185 , Y10S901/01
摘要： Methods and systems for modifying a display of a field of view of a robotic device to include zoomed-in and zoomed-out views are provided. In examples, the robotic device may include a camera to capture images in a field of view of a robotic device, and distance sensors which can provide outputs that may be used to determine a distance of the robotic device to an object in the field of view of the robotic device. A display of the field of view of the robotic device can be generated, and as the distance decreases, the display can be modified to include a zoomed-in view of the object. As the distance increases, the display can be modified to include a zoomed-out view of the object. An amount of zoom of the object may be inversely proportional to the distance.
摘要翻译： 提供了用于修改机器人设备的视野的显示以包括放大和缩小视图的方法和系统。 在示例中，机器人装置可以包括用于在机器人装置的视野中捕获图像的相机以及距离传感器，所述距离传感器可以提供可用于确定机器人装置在视场中的对象的距离的输出 的机器人装置。 可以生成机器人装置的视野的显示，并且随着距离减小，可以修改显示以包括对象的放大视图。 随着距离的增加，可以对显示进行修改，以包括对象的缩小视图。 物体的变焦量可能与距离成反比。
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3.发明申请Methods and Systems for Providing Functionality of an Interface to Control Orientations of a Camera on a Device 有权用于提供控制设备上相机方向的界面功能的方法和系统公开(公告)号：US20140350727A1
公开(公告)日：2014-11-27
申请号：US14453809
申请日：2014-08-07
申请人： Google Inc.
发明人： Munjal Desai , Ryan Hickman , Thor Lewis , Damon Kohler
CPC分类号： H04N5/23216 , B25J9/1697 , G05B2219/40002 , G05B2219/40617 , H04N5/23206 , Y10S901/47 , Y10S901/50
摘要： Methods and systems for providing functionality of an interface to control orientations of a camera on a device are provided. In one example, a method includes receiving an input on an interface indicating a command for an orientation of a camera on a robotic device, and the interface may be provided on a device remote from the robotic device. An indicator may be provided on the interface representing a location of the input, and the indicator may be representative of the command for the orientation of the camera on the robotic device. The method may also include determining that the location of the input on the interface is within a distance threshold to a pre-set location on the interface, and repositioning the indicator on the interface to be at the pre-set location.
摘要翻译： 提供了用于提供用于控制设备上的相机的取向的界面的功能的方法和系统。 在一个示例中，一种方法包括在界面上接收指示用于机器人设备上的相机的定向的命令的输入，并且该接口可以设置在远离该机器人设备的设备上。 可以在界面上提供指示符，该指示符表示输入的位置，并且指示符可以代表在机器人装置上相机的取向的命令。 该方法还可以包括确定接口上的输入的位置在接口上的预设位置的距离阈值内，以及将接口上的指示符重新定位在预设位置。
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公开(公告)号：US20180012371A1
公开(公告)日：2018-01-11
申请号：US15714353
申请日：2017-09-25
申请人： Google Inc.
发明人： Bryan Klingner , Damon Kohler
IPC分类号： G06T7/50
CPC分类号： G06T7/50 , G06T7/579 , G06T7/73 , G06T2207/10024 , G06T2207/10028 , G06T2207/20212 , G06T2207/20221
摘要： Systems and methods for image registration using data collected by an electronic device, such as a mobile device, capable of simultaneous localization and mapping are provided. An electronic device, such as a mobile device, can be can be configured to collect data using a variety of sensors as the device is carried or transported through a space. The collected data can be processed and analyzed to generate a three-dimensional representation of the space and objects in the space in near real time as the device is carried through the space. The data can be used for a variety of purposes, including registering imagery for localization and image processing.
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5.发明授权Methods and systems for providing functionality of an interface to control orientations of a camera on a device 有权用于提供接口的功能以控制设备上相机的取向的方法和系统公开(公告)号：US09344623B2
公开(公告)日：2016-05-17
申请号：US14453809
申请日：2014-08-07
申请人： Google Inc.
发明人： Munjal Desai , Ryan Hickman , Thor Lewis , Damon Kohler
CPC分类号： H04N5/23216 , B25J9/1697 , G05B2219/40002 , G05B2219/40617 , H04N5/23206 , Y10S901/47 , Y10S901/50
摘要： Methods and systems for providing functionality of an interface to control orientations of a camera on a device are provided. In one example, a method includes receiving an input on an interface indicating a command for an orientation of a camera on a robotic device, and the interface may be provided on a device remote from the robotic device. An indicator may be provided on the interface representing a location of the input, and the indicator may be representative of the command for the orientation of the camera on the robotic device. The method may also include determining that the location of the input on the interface is within a distance threshold to a pre-set location on the interface, and repositioning the indicator on the interface to be at the pre-set location.
摘要翻译： 提供了用于提供用于控制设备上的相机的取向的界面的功能的方法和系统。 在一个示例中，一种方法包括在界面上接收指示用于机器人设备上的相机的定向的命令的输入，并且该接口可以设置在远离该机器人设备的设备上。 可以在界面上提供指示符，该指示符表示输入的位置，并且指示符可以代表在机器人装置上相机的取向的命令。 该方法还可以包括确定接口上的输入的位置在接口上的预设位置的距离阈值内，以及将接口上的指示符重新定位在预设位置。
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公开(公告)号：US20150254521A1
公开(公告)日：2015-09-10
申请号：US14202576
申请日：2014-03-10
申请人： Google Inc.
CPC分类号： G06K9/469 , G06K9/6218 , G06T7/11 , G06T2207/10032 , G06T2207/30184
摘要： Systems and methods for extracting regions from occupancy grids are provided. One example method includes performing a plurality of assignment iterations. Each assignment iteration includes assigning each of a first plurality of cells to one of a plurality of centroids based on a cost formula such that a plurality of regions respectively associated with the plurality of centroids are formed. The region for each centroid comprises all of the cells assigned to such centroid. Each assignment iteration includes reassigning one or more of the first plurality of cells to one or more respective alternate regions. The one or more reassigned cells were included in one or more problem areas of one or more of the plurality of regions. Each assignment iteration includes relocating the plurality of centroids to be the respective means of the plurality of regions. One example system includes computing devices implementing instructions stored on non-transitory computer-readable media.
摘要翻译： 提供了从占用网格中提取区域的系统和方法。 一个示例性方法包括执行多个分配迭代。 每个分配迭代包括基于成本公式将第一多个单元中的每一个分配给多个质心中的每一个，使得形成分别与多个质心相关联的多个区域。 每个质心的区域包括分配给这种质心的所有单元格。 每个分配迭代包括将第一多个小区中的一个或多个重新分配给一个或多个相应的替代区域。 一个或多个重新分配的小区被包括在多个区域中的一个或多个的一个或多个问题区域中。 每个分配迭代包括将多个质心重定位为多个区域的相应装置。 一个示例性系统包括实现存储在非暂时性计算机可读介质上的指令的计算设备。
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公开(公告)号：US10318659B1
公开(公告)日：2019-06-11
申请号：US14972938
申请日：2015-12-17
申请人： Google Inc.
发明人： Wolfgang Hess , Damon Kohler , Holger H. Rapp
IPC分类号： G06F17/50
摘要： Computer-implemented methods and systems for detecting loop closure in SLAM applications can include accessing one or more range measurement data scans that each provide a collection of consecutively observed spatial data obtained at a given location. A relative scan pose for each range measurement data scan can be determined. Frames from each of the one or more range measurement data scans then can be aligned to frames within one or more submaps based at least in part by the determined relative scan pose. An enhanced scan pose for each range measurement data scan and an enhanced submap pose for each submap can be periodically determined and used to identify one or more closed loops within the one or more submaps. An output indicative of the identified one or more closed loops can be provided, along with optionally generated floorplan maps and/or given location determinations.
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公开(公告)号：US09773313B1
公开(公告)日：2017-09-26
申请号：US14584151
申请日：2014-12-29
申请人： Google Inc.
发明人： Bryan Klingner , Damon Kohler
IPC分类号： G06T7/00
CPC分类号： G06T7/50 , G06T7/579 , G06T7/73 , G06T2207/10024 , G06T2207/10028 , G06T2207/20212
摘要： Systems and methods for image registration using data collected by an electronic device, such as a mobile device, capable of simultaneous localization and mapping are provided. An electronic device, such as a mobile device, can be can be configured to collect data using a variety of sensors as the device is carried or transported through a space. The collected data can be processed and analyzed to generate a three-dimensional representation of the space and objects in the space in near real time as the device is carried through the space. The data can be used for a variety of purposes, including registering imagery for localization and image processing.
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9.发明申请Methods and Systems for Selecting a Velocity Profile for Controlling a Robotic Device 有权用于选择用于控制机器人装置的速度分布的方法和系统公开(公告)号：US20150165626A1
公开(公告)日：2015-06-18
申请号：US14602700
申请日：2015-01-22
申请人： Google Inc.
发明人： Munjal Desai , Ryan Michael Hickman , Thor Lewis , Damon Kohler
CPC分类号： B25J9/1651 , B25J13/06 , G05B19/416 , G05B2219/42175 , G05B2219/43034 , G05B2219/43036 , G05B2219/43074
摘要： Methods and systems for selecting a velocity profile for controlling a robotic device are provided. An example method includes receiving via an interface a selection of a robotic device to control, and receiving via the interface a request to modify a velocity profile of the robotic device. The velocity profile may include information associated with changes in velocity of the robotic device over time. The method may further include receiving a selected velocity profile, receiving an input via the interface, and determining a velocity command based on the selected velocity profile and the input. In this manner, changes in velocity of the robotic device may be filtered according to a velocity profile selected via the interface.
摘要翻译： 提供了用于选择用于控制机器人装置的速度分布的方法和系统。 示例性方法包括经由接口接收机器人设备的选择以控制，以及经由接口接收修改机器人设备的速度分布的请求。 速度分布可以包括与随着时间的自动装置的速度变化相关联的信息。 该方法还可以包括接收所选择的速度分布，经由界面接收输入，以及基于所选择的速度分布和输入来确定速度指令。 以这种方式，可以根据通过界面选择的速度分布来过滤机器人装置的速度变化。
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10.发明授权Methods and systems for modifying a display of a field of view of a robotic device to include zoomed-in and zoomed-out views 有权用于修改机器人装置的视野的显示以包括放大和缩小视图的方法和系统公开(公告)号：US09030501B2
公开(公告)日：2015-05-12
申请号：US14459437
申请日：2014-08-14
申请人： Google Inc.
发明人： Munjal Desai , Ryan Hickman , Thor Lewis , Damon Kohler
CPC分类号： G06T3/0006 , G01C3/08 , G06T2211/428 , G09G5/00 , H04N7/185 , Y10S901/01
摘要： Methods and systems for modifying a display of a field of view of a robotic device to include zoomed-in and zoomed-out views are provided. In examples, the robotic device may include a camera to capture images in a field of view of a robotic device, and distance sensors which can provide outputs that may be used to determine a distance of the robotic device to an object in the field of view of the robotic device. A display of the field of view of the robotic device can be generated, and as the distance decreases, the display can be modified to include a zoomed-in view of the object. As the distance increases, the display can be modified to include a zoomed-out view of the object. An amount of zoom of the object may be inversely proportional to the distance.
摘要翻译： 提供了用于修改机器人设备的视野的显示以包括放大和缩小视图的方法和系统。 在示例中，机器人装置可以包括用于在机器人装置的视野中捕获图像的相机以及距离传感器，所述距离传感器可以提供可用于确定机器人装置在视场中的对象的距离的输出 的机器人装置。 可以生成机器人装置的视野的显示，并且随着距离减小，可以修改显示以包括对象的放大视图。 随着距离的增加，可以对显示进行修改，以包括对象的缩小视图。 物体的变焦量可能与距离成反比。
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