-
公开(公告)号:US20170157769A1
公开(公告)日:2017-06-08
申请号:US15192719
申请日:2016-06-24
Applicant: QUALCOMM Incorporated
Inventor: Aliakbar AGHAMOHAMMADI , Bardia Fallah BEHABADI , Christopher LOTT , Shayegan OMIDSHAFIEI , Kiran SOMASUNDARAM , Sarah Paige GIBSON , Casimir Matthew WIERZYNSKI , Saurav AGARWAL , Gerhard REITMAYR , Serafin DIAZ
IPC: B25J9/16
CPC classification number: B25J9/1664 , G01C21/20 , G01C21/32 , G05B2219/40512 , G05B2219/40519 , G05D1/0217 , G05D1/0251 , G05D1/0274 , Y10S901/01
Abstract: A method substantially simultaneously plans a path and maps an environment by a robot. The method determines a mean of an occupancy level for a location in a map. The method also includes determining a probability distribution function (PDF) of the occupancy level. The method further includes calculating a cost function based on the PDF. Finally, the method includes simultaneously planning the path and mapping the environment based on the cost function.
-
公开(公告)号:US20170160747A1
公开(公告)日:2017-06-08
申请号:US15192874
申请日:2016-06-24
Applicant: QUALCOMM Incorporated
Inventor: Aliakbar AGHAMOHAMMADI , Saurav AGARWAL , Shayegan OMIDSHAFIEI , Christopher LOTT , Kiran SOMASUNDARAM , Bardia Fallah BEHABADI , Sarah Paige GIBSON , Casimir Matthew WIERZYNSKI , Gerhard REITMAYR , Serafin DIAZ
CPC classification number: G05D1/0251 , G06T7/579 , G06T7/593 , G06T2207/10021 , G06T2207/20076 , H04N13/204
Abstract: A method of calculating a most likely map based on batch data includes gathering a corpus of sensor measurements indexed by a location of a sensor throughout an environment to be mapped. The method also includes determining, after gathering the corpus of sensor measurements, a most likely occupancy level of each voxel of multiple voxels of the environment in accordance with the corpus of sensor measurements and a stochastic sensor model. The method further includes calculating the most likely map based on the determined most likely occupancy level.
-
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
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:US20170161946A1
公开(公告)日:2017-06-08
申请号:US15192944
申请日:2016-06-24
Applicant: QUALCOMM Incorporated
Inventor: Aliakbar AGHAMOHAMMADI , Saurav AGARWAL , Kiran SOMASUNDARAM , Shayegan OMIDSHAFIEI , Christopher LOTT , Bardia Fallah BEHABADI , Sarah Paige GIBSON , Casimir Matthew WIERZYNSKI , Gerhard REITMAYR , Serafin DIAZ
CPC classification number: G06T17/05 , B25J9/1697 , G05D1/0212 , G06F17/18 , G06K9/00805 , G06N3/008 , G06N7/005 , G06N20/00 , Y10S901/47
Abstract: A method for generating a map includes determining an occupancy level of each of multiple voxels. The method also includes determining a probability distribution function (PDF) of the occupancy level of each voxel. The method further includes performing an incremental Bayesian update on the PDF to generate the map based on a measurement performed after determining the PDF.
-
5.
公开(公告)号:US20170160737A1
公开(公告)日:2017-06-08
申请号:US15069834
申请日:2016-03-14
Applicant: QUALCOMM Incorporated
Inventor: Regan Blythe TOWAL , Shayegan OMIDSHAFIEI , Aliakbar AGHAMOHAMMADI
CPC classification number: G05D1/0011 , B25J9/1697 , G05B2219/40617 , G05D1/0094 , G06K9/00664 , G06T7/564 , H04N5/23203
Abstract: A method of motion planning includes observing an object from a first pose of an agent having a controllable camera. The method also includes determining one or more subsequent control inputs to move the agent and the camera to observe the object from at least one subsequent pose. The subsequent control input(s) are determined so as to minimize an expected enclosing measure of the object based on visual data collected from the camera. The method further includes controlling the agent and the camera based on the subsequent control input(s).
-
-
-
-