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公开(公告)号：US20240121363A1
公开(公告)日：2024-04-11
申请号：US18377963
申请日：2023-10-09
发明人： Jianan Lin , Brandon McGannon , Charles Hart , Jason Mizgorski
CPC分类号： H04N7/181 , G06T17/00 , H04N5/265 , H04N23/555
摘要： An example implementation includes a device that includes a base infrastructure inspection unit and a plurality of modular sensor units attached to the base infrastructure inspection unit. The base infrastructure inspection unit includes a set of one or more processors and a memory device having code executable by the one or more processors. The executable code synchronizes the plurality of sensor units, captures two or more data streams of infrastructure inspection data, combines the data with metadata indicating synchronization between respective ones of the plurality of sensor units, and provides combined metadata and infrastructure inspection data for inclusion in a photorealistic image based on a three-dimensional (3D) model of the infrastructure.
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公开(公告)号：US20220028054A1
公开(公告)日：2022-01-27
申请号：US17365773
申请日：2021-07-01
发明人： Andrew Harmen , Gabe Detter , Mohamed Morsy , Andrew Lawniczak , Galin Konalchiev , Matthew Crowell , Jack Buffington , Mohsen Pashna , Richard Rigby , Jason Mizgorski , Foster J. Salotti
摘要： One aspect provides a modular inspection robot for inspecting vertical shafts, chambers or tunnels. An embodiment provides related methods and products. One method includes: capturing, using a plurality of video cameras associated with an infrastructure inspection unit, two or more videos of infrastructure; accessing, using one or more processors, image metadata indicating a mesh of connected vertices based on the two or more videos; selecting, using the one or more processors, image data of frames of the two or more videos for inclusion in an output based on the mesh; and outputting, using the one or more processors, a photo-realistic image of the infrastructure comprising the image data selected. Other examples are described and claimed.
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公开(公告)号：US11125910B2
公开(公告)日：2021-09-21
申请号：US16184054
申请日：2018-11-08
发明人： Justin Starr , Galin Konakchiev , Foster J Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
摘要： One aspect provides a method, including: obtaining sensor data from an unmanned aerial vehicle (UAV); the sensor data comprising data obtained by one or more sensors of the UAV; analyzing, using a processor, the sensor data to detect underground water associated with a pipe; and identifying, with the processor, an underground feature based on the analyzing. Other aspects are described and claimed.
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4.发明授权公开(公告)号：US12039712B2
公开(公告)日：2024-07-16
申请号：US17186957
申请日：2021-02-26
发明人： Justin Starr , Galin Konakchiev , Foster J Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
IPC分类号： G06K9/00 , G01M3/38 , G06F18/214 , G06F18/24 , G06F18/40 , G06T7/00 , G06T7/73 , G06V10/764 , G06V10/82 , G01M3/00
CPC分类号： G06T7/0004 , G01M3/38 , G06F18/2148 , G06F18/24 , G06F18/40 , G06T7/73 , G06V10/764 , G06V10/82 , G01M3/005 , G06T2207/20081 , G06T2207/20084 , G06T2207/20092 , G06T2207/30108 , G06T2207/30184 , G06V2201/10
摘要： One aspect provides operating a mobile pipe inspection platform to obtain two or more types of sensor data for the interior of a pipe; analyzing, using a processor, the two or more types of sensor data using a trained model, where the trained model is trained using a dataset including training sensor data of pipe interiors; the analyzing including performing: identifying, using a processor, a pipe feature location using a first type of the two or more types of sensor data; and classifying, using a processor, an identified pipe feature using a second type of the two or more types of sensor data; and thereafter producing, using a processor, an output including an indication of the classified pipe feature. Other aspects are described and claimed.
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公开(公告)号：US10970833B2
公开(公告)日：2021-04-06
申请号：US16184026
申请日：2018-11-08
发明人： Justin Starr , Galin Konakchiev , Foster J Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
摘要： One aspect provides a method, including: displaying, at a display screen, an image of an interior of a pipe, the image being obtained using a pipe inspection robot; accessing, using a processor, calibration data associated with the image; receiving, via an input device, user input marking at least a portion of the image; determining, using a processor, quantitative pipe feature data for at least one feature of the pipe using the marking and the calibration data; and providing, based on the determining, data associated with the at least one feature. Other aspects are described and claimed.
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公开(公告)号：US10937144B2
公开(公告)日：2021-03-02
申请号：US16184073
申请日：2018-11-08
发明人： Justin Starr , Galin Konakchiev , Foster J Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
摘要： One aspect provides a method, including: operating a mobile pipe inspection platform to obtain sensor data for the interior of a pipe; analyzing, using a processor, the sensor data using a trained model, where the trained model is trained using a dataset including sensor data of pipe interiors and one or more of: metadata identifying pipe feature locations contained within the sensor data of the dataset and metadata classifying pipe features contained within the sensor data of the dataset; performing one or more of: identifying, using a processor, a pipe feature location within the sensor data; and classifying, using a processor, a pipe feature of the sensor data; and thereafter producing, using a processor, an output including one or more of an indication of the identifying and an indication of the classifying. Other aspects are described and claimed.
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公开(公告)号：US12118703B2
公开(公告)日：2024-10-15
申请号：US17365773
申请日：2021-07-01
发明人： Andrew Harmen , Gabe Detter , Mohamed Morsy , Andrew Lawniczak , Galin Konalchiev , Matthew Crowell , Jack Buffington , Mohsen Pashna , Richard Rigby , Jason Mizgorski , Foster J Salotti , Jjianan Lin , Valerie Walch
CPC分类号： G06T7/0004 , G06T7/344 , G06T7/55 , G06T17/20 , G06T2207/10016
摘要： One aspect provides a modular inspection robot for inspecting vertical shafts, chambers or tunnels. An embodiment provides related methods and products. One method includes: capturing, using a plurality of video cameras associated with an infrastructure inspection unit, two or more videos of infrastructure; accessing, using one or more processors, image metadata indicating a mesh of connected vertices based on the two or more videos; selecting, using the one or more processors, image data of frames of the two or more videos for inclusion in an output based on the mesh; and outputting, using the one or more processors, a photo-realistic image of the infrastructure comprising the image data selected. Other examples are described and claimed.
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公开(公告)号：US20210183050A1
公开(公告)日：2021-06-17
申请号：US17186957
申请日：2021-02-26
发明人： Justin Starr , Galin Konakchiev , Foster J. Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
摘要： One aspect provides operating a mobile pipe inspection platform to obtain two or more types of sensor data for the interior of a pipe; analyzing, using a processor, the two or more types of sensor data using a trained model, where the trained model is trained using a dataset including training sensor data of pipe interiors; the analyzing including performing: identifying, using a processor, a pipe feature location using a first type of the two or more types of sensor data; and classifying, using a processor, an identified pipe feature using a second type of the two or more types of sensor data; and thereafter producing, using a processor, an output including an indication of the classified pipe feature. Other aspects are described and claimed.
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公开(公告)号：US20190172194A1
公开(公告)日：2019-06-06
申请号：US16184026
申请日：2018-11-08
发明人： Justin Starr , Galin Konakchiev , Foster J. Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
摘要： One aspect provides a method, including: displaying, at a display screen, an image of an interior of a pipe, the image being obtained using a pipe inspection robot; accessing, using a processor, calibration data associated with the image; receiving, via an input device, user input marking at least a portion of the image; determining, using a processor, quantitative pipe feature data for at least one feature of the pipe using the marking and the calibration data; and providing, based on the determining, data associated with the at least one feature. Other aspects are described and claimed.
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公开(公告)号：US11719853B2
公开(公告)日：2023-08-08
申请号：US17473949
申请日：2021-09-13
发明人： Justin Starr , Galin Konakchiev , Foster J Salotti , Mark Jordan , Nate Alford , Thorin Tobiassen , Todd Kueny , Jason Mizgorski
CPC分类号： G01V11/002 , B64C39/024 , G01S7/412 , G01S13/885 , G01V8/02 , G05D1/0094 , B64U2101/00 , G01S13/90
摘要： One aspect provides a method, including: obtaining sensor data from a ground penetrating radar (GPR) unit; analyzing, using a processor, the sensor data to detect a first object and a second object, the second object being associated with the first object based on location; identifying, with the processor, an underground pipe feature based on the analyzing; associating a position of the underground pipe feature with a location in a pipe network; selecting a subset of the pipe network including a pipe segment associated with the position of the underground pipe feature; and providing the subset of the pipe network as displayable data to a display device. Other aspects are described and claimed.
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