Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Automatic route guidance vehicle
Reexamination Certificate
2007-01-09
2007-01-09
Black, Thomas (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Automatic route guidance vehicle
C701S028000, C701S200000, C701S207000, C701S217000, C700S253000, C700S259000
Reexamination Certificate
active
10739927
ABSTRACT:
The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
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Di Bernardo Enrico
Goncalves Luis Filipe Domingues
Karlsson L. Niklas
Pirjanian Paolo
Black Thomas
Evolution Robotics, Inc.
Knobbe Martens Olson & Bear LLP
Naglestad Andrew
Weiskopf Marie A
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