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公开(公告)号：US20220308228A1
公开(公告)日：2022-09-29
申请号：US17607945
申请日：2020-05-12
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG
IPC: G01S17/894 , G01S17/86 , G05D1/02 , G01S7/497
Abstract: The present invention relates to a method for localization using at least one time-of-flight (ToF) sensor, map data and a processing unit. The method can comprise capturing at least one ToF sensor image comprising at least one feature with the at least one ToF sensor. The method can further comprise the processing unit extracting at least one feature from the at least one ToF sensor image and the processing unit comparing the at least one extracted feature with the map data. A location hypothesis based on the comparison step can be generated and output. The present invention also relates to a localization system comprising a ToF sensor configured to capture a at least one ToF sensor image, a memory unit, comprising stored therein map data and a processing unit. The processing unit can be configured to extract at least one feature from the at least one ToF sensor image. The processing unit can further be configured to access the memory unit comprising the map data and compare the at least one extracted feature with the map data. The processing unit can generate a location hypothesis based on the comparison of the at least one extracted feature with the map data.
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公开(公告)号：US20220292720A1
公开(公告)日：2022-09-15
申请号：US17827836
申请日：2022-05-30
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG , Indrek MANDRE
IPC: G06T7/80 , G06T7/13 , G06T7/70 , H04N13/246 , G06F17/18
Abstract: The invention relates to a method for calibrating cameras. In particular, the invention provides a method that estimates the position of interest points such as corners on images of array patterns, and uses such refined positions in an iterative calibration algorithm. The method can be extended to simultaneously process information from a large number of images from a plurality of cameras that are arranged in a fixed position on a mobile robot, wherein the images are representative of different camera poses. The optimization thereby provides a highly accurate estimate of camera calibration parameters.
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公开(公告)号：US20210233277A1
公开(公告)日：2021-07-29
申请号：US17169485
申请日：2021-02-07
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG , Indrek MANDRE
IPC: G06T7/80 , G06T7/13 , G06T7/70 , H04N13/246 , G06F17/18
Abstract: The invention relates to a method for calibrating cameras. In particular, the invention provides a method that estimates the position of interest points such as corners on images of array patterns, and uses such refined positions in an iterative calibration algorithm. The method can be extended to simultaneously process information from a large number of images from a plurality of cameras that are arranged in a fixed position on a mobile robot, wherein the images are representative of different camera poses. The optimization thereby provides a highly accurate estimate of camera calibration parameters.
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公开(公告)号：US20190295291A1
公开(公告)日：2019-09-26
申请号：US16287355
申请日：2019-02-27
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG , Indrek MANDRE
IPC: G06T7/80 , G06T7/70 , G06T7/13 , G06F17/18 , H04N13/246
Abstract: The invention relates to a method for calibrating cameras. In particular, the invention provides a method that estimates the position of interest points such as corners on images of array patterns, and uses such refined positions in an iterative calibration algorithm. The method can be extended to simultaneously process information from a large number of images from a plurality of cameras that are arranged in a fixed position on a mobile robot, wherein the images are representative of different camera poses. The optimization thereby provides a highly accurate estimate of camera calibration parameters.
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Patent Agency Ranking
公开(公告)号：US20240264312A1
公开(公告)日：2024-08-08
申请号：US18629817
申请日：2024-04-08
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG
IPC: G01S17/894 , G01S7/497 , G01S17/86
CPC classification number: G01S17/894 , G01S7/497 , G01S17/86
Abstract: A method for localization using at least one time-of-flight (ToF) sensor, map data and a processing unit. The method can comprise capturing at least one ToF sensor image comprising at least one feature with the at least one ToF sensor. The method can further comprise the processing unit extracting at least one feature from the at least one ToF sensor image and the processing unit comparing the at least one extracted feature with the map data. A location hypothesis based on the comparison step can be generated and output. The present invention also relates to a localization system comprising a ToF sensor configured to capture a at least one ToF sensor image, a memory unit, comprising stored therein map data and a processing unit. The processing unit can be configured to extract at least one feature from the at least one ToF sensor image. The processing unit can further be configured to access the memory unit comprising the map data and compare the at least one extracted feature with the map data. The processing unit can generate a location hypothesis based on the comparison of the at least one extracted feature with the map data.
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公开(公告)号：US20220101534A1
公开(公告)日：2022-03-31
申请号：US17548833
申请日：2021-12-13
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG
Abstract: A method includes acquiring at least one image with at least one camera associated with at least one mobile robot; and extracting a plurality of straight lines from the at least one image; creating at least one dataset comprising data related to the plurality of straight lines extracted from the at least one image; forming a plurality of hypotheses for a walkway boundary based on the at least one dataset and determining at least one hypothesis with the highest likelihood of representing a walkway boundary; and using the at least one hypothesis to adjust a direction and/or speed of motion of the at least one mobile robot.
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公开(公告)号：US20210343143A1
公开(公告)日：2021-11-04
申请号：US17269364
申请日：2019-08-01
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Kristjan KORJUS , Sergii KHARAGORGIIEV , Rasmus RAAG
Abstract: A method comprising a data processing device predicting a time for a future state change of a first traffic light; a method comprising a data processing device generating a map of traffic lights, wherein the map of traffic lights comprises a location of at least one localization traffic light, and methods combining these methods, and to corresponding systems.
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公开(公告)号：US20200159245A1
公开(公告)日：2020-05-21
申请号：US16439595
申请日：2019-06-12
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG , Sergii KHARAGORGIIEV
Abstract: The present invention relates to a method of a robot (30) responding to a transition (40) between height levels, the method comprising a robot (30) travelling, sensing information of the surroundings of the robot (30) and generating a three dimensional data set corresponding to a heightmap of the surroundings of the robot (30) based on the information, detecting a transition (40) between different height levels (10, 20) in the three dimensional data set, categorizing the transition (40) between the different height levels (10, 20) by means of at least one characteristic, the robot (30) performing a response action, which response action depends on the categorization of the transition (40). The present invention also relates to a corresponding system.
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公开(公告)号：US20190318482A1
公开(公告)日：2019-10-17
申请号：US16388581
申请日：2019-04-18
Applicant: STARSHIP TECHNOLOGIES OÜ
Inventor： Rasmus RAAG
Abstract: A method includes acquiring at least one image with at least one camera associated with at least one mobile robot; and extracting a plurality of straight lines from the at least one image; creating at least one dataset comprising data related to the plurality of straight lines extracted from the at least one image; forming a plurality of hypotheses for a walkway boundary based on the at least one dataset and determining at least one hypothesis with the highest likelihood of representing a walkway boundary; and using the at least one hypothesis to adjust a direction and/or speed of motion of the at least one mobile robot.
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