公开(公告)号：US20230177712A1

公开(公告)日：2023-06-08

申请号：US18004795

申请日：2020-10-01

Applicant: QUALCOMM Incorporated

Inventor： Xueyang KANG ,  Lei XU ,  Yanming ZOU ,  Hao XU ,  Lei MA

IPC: G06T7/579 ,  G06T17/05 ,  G06T7/13 ,  G06T7/246 ,  G06T7/70 ,  G06V10/60

CPC classification number: G06T7/579 ,  G06T7/13 ,  G06T7/70 ,  G06T7/246 ,  G06T17/05 ,  G06V10/60 ,  G06T2207/10012 ,  G06T2207/10048 ,  G06T2207/30244

Abstract: A device is described that performs an image processing technique. The device includes a first camera and a second camera, which are responsive to distinct spectra of light, such as the visible light spectrum and the infrared spectrum. While the device is in a first position in an environment, the first camera captures a first image of the environment, and the second camera captures a second image of the environment. The device determines a single set of coordinates for the feature based on depictions of the feature identified in both the first image and in the second image. The device generates and/or updates a map of the environment based on the set of coordinates for the feature. The device can move to other positions in the environment and continue to capture images and update the map based on the images.

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：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.

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.