公开(公告)号：US20200241536A1

公开(公告)日：2020-07-30

申请号：US16641730

申请日：2017-10-06

Applicant: QUALCOMM Incorporated

Inventor： Xiaohui LIU ,  Yibo JIANG ,  Yanming ZOU ,  Lei XU ,  Jiangtao REN

IPC: G05D1/02 ,  G06T7/73 ,  G01C21/20

Abstract: Various embodiments include processing devices and methods for relocation and reinitialization for a robotic device. Various embodiments may include concurrently relocating a second pose of the robotic device and reinitializing a third pose of the robotic device in response to failing to determine a first pose of the robotic device in the environment and determining that tracking of the robotic device is lost. Various embodiments may include pre-relocating a second pose of the robotic device in the environment in response to failing to determine the first pose of the robotic device in the environment and determining that tracking of the robotic device is lost, relocating a third pose of the robotic device in response to successfully pre-relocating the second pose of the robotic device, and reinitializing a fourth pose of the robotic device in response to unsuccessfully pre-relocating the second pose of the robotic device.

公开(公告)号：US20240338035A1

公开(公告)日：2024-10-10

申请号：US18293990

申请日：2021-10-13

Applicant: QUALCOMM Incorporated

Inventor： Jiangtao REN ,  Lei XU, Jr. ,  Hao XU ,  Yanming ZOU ,  Ruowei WANG ,  Lei MA ,  Xiaolong SHI ,  Jingwei RAO

IPC: G05D1/644 ,  G05D105/80 ,  G06T7/246 ,  G06T7/579

CPC classification number: G05D1/6445 ,  G06T7/246 ,  G06T7/579 ,  G05D2105/87 ,  G06T2207/30241 ,  G06T2207/30252

Abstract: Embodiments include methods executed by a processor of a robotic device for selecting a frontier goal for autonomous map building within a space, including determining trajectory costs for the robotic device traversing from an occupied area to each of a plurality of available frontier goals, wherein the plurality of available frontier goals include positions within the space from which the robotic device is configured to collect information to autonomously build a map of the space, determining co-visibility costs for each of the plurality of available frontier goals, determining a frontier cost for each of the plurality of available frontier goals based on a difference between the trajectory cost and the co-visibility cost of the respective available frontier goal; and selecting one of the plurality of available frontier goals having a lowest determined frontier cost.

公开(公告)号：US20190208120A1

公开(公告)日：2019-07-04

申请号：US16331912

申请日：2016-09-23

Applicant: QUALCOMM Incorporated

Inventor： Yin HUANG ,  Jiangtao REN ,  Xiaoyi ZHU ,  Liang ZHANG ,  Ruowei WANG

IPC: H04N5/232 ,  B64C39/02 ,  G06T3/60 ,  G06T7/246

CPC classification number: H04N5/23229 ,  B64C39/024 ,  B64C2201/141 ,  B64D47/08 ,  G06K9/0063 ,  G06K9/3233 ,  G06T3/60 ,  G06T5/006 ,  G06T7/246 ,  G06T7/70 ,  G06T2207/10016 ,  G06T2207/10032 ,  G06T2207/30208 ,  G06T2207/30244 ,  H04N5/23267

Abstract: Embodiments include devices and methods for processing an image captured by an image sensor of an unmanned autonomous vehicle (UAV). A processor of the UAV may determine a body coordinate matrix of the UAV. The processor may determine an estimated rotation of the image sensor of the UAV. The processor may determine an estimated rotation of the UAV. The processor may transform an image captured by the image sensor based on the body coordinate matrix, the estimated rotation of the image sensor, and the estimated rotation of the UAV.

公开(公告)号：US20200218279A1

公开(公告)日：2020-07-09

申请号：US16631221

申请日：2017-08-30

Applicant: QUALCOMM Incorporated

Inventor： Xiaohui LIU ,  Yibo JIANG ,  Lei XU ,  Yanming ZOU ,  Jiangtao REN

IPC: G05D1/02 ,  G05D1/00 ,  G06T7/579 ,  G06T7/246 ,  G06T7/73

Abstract: Various embodiments include processing devices and methods for navigation of a robotic vehicle. Various embodiments may include a rearward-facing image sensor mounted such that its plane angle aligns with a navigation plane of the robotic vehicle. In various embodiments, the image sensor of the robotic vehicle may capture images and a processor of the robotic vehicle may execute simultaneous localization and mapping (SLAM) tracking using the captured images. Embodiments may include a processor of the robotic vehicle determining whether the robotic vehicle is approaching a barrier. If the robotic vehicle is approaching a barrier, the processor may determine whether a rotation angle of the image sensor of the robotic vehicle exceeds a rotation threshold. If the rotation angle exceeds the rotation threshold then the processor may determine whether SLAM tracking is stable; and reinitialize a pose of the robotic vehicle in response to determining that SLAM tracking is not stable.

公开(公告)号：US20190182428A1

公开(公告)日：2019-06-13

申请号：US16324308

申请日：2017-02-24

Applicant: QUALCOMM Incorporated

Inventor： Yin HUANG ,  Liang ZHANG ,  Xiaoyi ZHU ,  Ruowei WANG ,  Jiangtao REN

IPC: H04N5/232 ,  B64D47/08 ,  B64C39/02

Abstract: Embodiments include devices and methods for adaptive image processing in an unmanned autonomous vehicle (UAV). In various embodiments, an image sensor may capture an image, while a processor of the UAV obtains attitude information from one or more attitude sensors. Such information may include the relative attitude of the UAV and changes in attitude. The processor of the UAV may determine a UAV motion mode based, at least in part, on the obtained attitude information. The UAV motion mode may result in the modification of yaw correction parameters. The processor of the UAV may further execute yaw filtering on the image based, at least in part, on the determined motion mode.

公开(公告)号：US20200167953A1

公开(公告)日：2020-05-28

申请号：US16621392

申请日：2017-07-28

Applicant: QUALCOMM Incorporated

Inventor： Xiaohui LIU ,  Yibo JIANG ,  Lei XU ,  Jiangtao REN ,  Yanming ZOU

IPC: G06T7/73 ,  H04N5/232 ,  G06T7/60 ,  G05D1/00 ,  G05D1/02

Abstract: Various embodiments include processing devices and methods for initializing an image sensor of a robotic vehicle. In some embodiments, a processor of the robotic vehicle may extract first features from a captured image of the target image, may extract second features from a predefined image pyramid of the target image, may match first features and second features, and may estimate an image sensor pose based on matched features and known dimensions of the target image. In some embodiments, the processor may estimate an image or to image sensor pose based on matched features and a translation and/or rotation of the robotic vehicle. In some embodiments, the processor may determine a coordinate system for the robotic vehicle based on one or more image sensor poses.

公开(公告)号：US20200097006A1

公开(公告)日：2020-03-26

申请号：US16621518

申请日：2018-03-14

Applicant: QUALCOMM Incorporated

Inventor： Xiaohui LIU ,  Yibo JIANG ,  Jiangtao REN ,  Lei XU ,  Yanming ZOU

IPC: G05D1/00 ,  G06T1/00 ,  G06T7/70 ,  G06T7/521 ,  G05B19/4155 ,  G07C5/08 ,  G07C5/04

Abstract: Various embodiments include methods for improving navigation by a processor of a robotic device. Such embodiments may include initiating a start of a predetermined time period associated with semantic information extraction, and determining whether an adverse event related to one or more sensors of the robotic device is detected. Such embodiments may also include identifying a current time slot of the predetermined time period, identifying a current estimated position and orientation of the robotic device, and recording updates to semantic information stored for the one or more sensor based on the identified current time slot and the current estimated position and orientation of the robotic device in response to determining that an adverse event related to one or more sensors of the robotic device is detected.