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1. WO2019049082 - COLLISION DETECTION, ESTIMATION, AND AVOIDANCE

Publication Number WO/2019/049082
Publication Date 14.03.2019
International Application No. PCT/IB2018/056851
International Filing Date 07.09.2018
IPC
G05D 1/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G06T 7/20 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
20Analysis of motion
CPC
B25J 9/1666
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
1666Avoiding collision or forbidden zones
G05B 2219/39082
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
39Robotics, robotics to robotics hand
39082Collision, real time collision avoidance
G05D 1/0214
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0212with means for defining a desired trajectory
0214in accordance with safety or protection criteria, e.g. avoiding hazardous areas
G05D 1/0221
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0212with means for defining a desired trajectory
0221involving a learning process
G05D 1/0246
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
G05D 2201/0203
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0203Cleaning or polishing vehicle
Applicants
  • NIANTIC, INC. [US]/[US]
Inventors
  • HICKMAN, Ryan Michael
  • BAE, Soohyun
Agents
  • KIND, John E.
  • BROWNSTONE, Daniel R.
  • FARN, Michael W.
Priority Data
15/699,44408.09.2017US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) COLLISION DETECTION, ESTIMATION, AND AVOIDANCE
(FR) DÉTECTION, ESTIMATION ET ÉVITEMENT DE COLLISION
Abstract
(EN)
An example method involves obtaining a log of sensor data indicative of an environment during a prior time period, with the log of sensor data including a sequence of image frames, and determining that the log of sensor data relates to a collision involving a physical object in the environment at a particular time within the prior time period. The method also involves, responsive to determining that the log of sensor data relates to the collision, generating a training data set for the collision from the log of sensor data. The training data set for the collision may include multiple image frames of the sequence of image frames that are prior to an image frame in the sequence of image frames that corresponds to the particular time.
(FR)
Un procédé donné à titre d'exemple consiste à obtenir un journal de données de capteur indiquant un environnement pendant une période de temps antérieure, le journal de données de capteur comprenant une séquence de trames d'image, et à déterminer que le journal de données de capteur concerne une collision impliquant un objet physique dans l'environnement à un moment particulier dans la période de temps antérieure. Le procédé consiste également, en réponse à la détermination que le journal de données de capteur concerne la collision, à générer un ensemble de données d'apprentissage pour la collision à partir du journal de données de capteur. L'ensemble de données d'apprentissage pour la collision peut comprendre de multiples trames d'image de la séquence de trames d'image qui précèdent une trame d'image dans la séquence de trames d'image qui correspondent au moment particulier.
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