公开(公告)号：US11693424B2

公开(公告)日：2023-07-04

申请号：US16439595

申请日：2019-06-12

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Rasmus Raag ,  Sergii Kharagorgiiev

IPC: G05D1/02 ,  G01C5/00

CPC classification number: G05D1/0251 ,  G01C5/00 ,  G05D2201/0213

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.

公开(公告)号：US11238594B2

公开(公告)日：2022-02-01

申请号：US16388581

申请日：2019-04-18

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Rasmus Raag

IPC: G06K9/00 ,  G06T7/12 ,  G06T7/73

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.

公开(公告)号：US10930015B2

公开(公告)日：2021-02-23

申请号：US16287355

申请日：2019-02-27

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.

公开(公告)号：US11532228B2

公开(公告)日：2022-12-20

申请号：US17269364

申请日：2019-08-01

Applicant: STARSHIP TECHNOLOGIES OÜ

Inventor： Kristjan Korjus ,  Sergii Kharagorgiiev ,  Rasmus Raag

IPC: G08G1/095 ,  G06N3/02 ,  G08G1/09 ,  G08G1/097 ,  G06V20/58

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.

公开(公告)号：US11361469B2

公开(公告)日：2022-06-14

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.