Abstract: A system for mapping and localization includes first and second robotic devices and fiducial tags placed at predetermined positions of an environment. The quality of the first robotic device is better than the second robotic device. The first robotic device prepares a high resolution multilayer map, and the second robotic device uses the multilayer map for fast and accurate localization. The first robotic device has a visual sensor and a light detection and ranging (LIDAR) device, and is configured to prepare the multilayer map by: constructing a feature point cloud layer of the environment using images captured by the visual sensor; building a tag layer comprising identifications and locations of the tags; constructing an occupancy map using LIDAR scans; and forming the multilayer map having the feature point cloud layer, the tag layer, and the occupancy map layer, which share the same coordinate system.

Abstract: Embodiments of the present disclosure disclose a method and an apparatus for controlling a mobile robot. A specific embodiment of the method comprises: generating pedestrian assessment information based on perception information of the mobile robot, wherein the pedestrian assessment information includes a pedestrian intent type and a pedestrian event type of the nearby pedestrian; then, generating pedestrian behavior information based on the perception information and the pedestrian assessment information, wherein the pedestrian behavior information includes a predicted position information sequence and a predicted behavior type sequence of the nearby pedestrian in a preset future time period; next, generating information for control use based on the perception information, the pedestrian assessment information and the pedestrian behavior information; finally, and controlling the mobile robot based on the information for control use. This embodiment improves a social acceptance of the mobile robot.

Abstract: A system for handling data skew includes a cluster of computing nodes and a processor. The cluster includes one or more first nodes, each of which has a storage, and one or more second nodes, each of which has a storage. The storage of the respective second nodes has a higher access speed than the storage of the respective first nodes. The processor is configured to split input data into partitions of the input data, to detect if any of the partitions has data skew, and to assign ones of the partitions, which are detected as having no data skew, to the first nodes, and ones of the partitions, which are detected as having the data skew, to the second nodes, for parallel processing.

Abstract: A system and method for constructing a multi-scale voxel representation of a three-dimensional (3D) sparse point map. The method includes: providing the 3D sparse point map; receiving coordinates of a 3D point from the 3D sparse point map; converting the coordinates of the 3D point to integer coordinates; and when the integer coordinates are not encompassed by any voxel entries of a hash table: creating a new unit voxel at scale level 0, scale level 0 being a minimum voxel size; calculating a hash value using the integer coordinates; inserting the new unit voxel into the hash table; and merging the new unit voxel with neighboring voxels along at least one axis of the integer coordinates, so as to obtain the multi-scale voxel representation of the 3D sparse point map.

Abstract: A system and method for constructing and updating a two dimensional (2D) grid cell map based on depth images and RGB images. The method includes: providing an RGB image and a depth image by a sensor of a computing device; determining scores of pixels in the RGB image representing possibility of the pixels being located in a ground plane; determining normal directions of pixels in the depth image; determining the ground plane based on the scores and the normal directions; projecting the pixels in the depth images to the ground plane; and generating and updating the 2D grid cell map by defining the ground plane into grid cells and attributing a color descriptor to each grid cell. The color descriptor of each grid cell is calculated based on the projected pixels within that grid cell.

Abstract: A method for simultaneous localization and mapping. The method includes the step of detecting two-dimensional (2D) feature points from a current frame captured by a camera; matching the 2D feature points from the current frame directly to three-dimensional (3D) map points in a 3D map, so as to obtain correspondence between the 2D feature points and the 3D map points; and computing a current pose of the camera based on the obtained correspondence. Each of the 2D feature points and the 3D map points has a feature descriptor. The step of matching is performed by comparing the feature descriptors of the 2D feature points and the feature descriptors of the 3D map points.

Abstract: Embodiments of the present disclosure disclose a fulfillment system, sorting methods and sorting apparatuses applied to the fulfillment system. A preferred embodiment of the method comprises: sending by a control server, target transportation indication information corresponding to a target order to a target vehicle, wherein the target transportation indication information includes the target order and a target storage compartment identifier, the target, storage compartment identifier being configured for indicating a target storage compartment in a target storage receptacle connected with the target vehicle; and then collecting, by the target vehicle, an item/items corresponding to the target order to the target storage compartment in response to receiving the target transportation indication information, thereby collecting the item(s) corresponding to each order to a specific storage compartment, which need not an additional sorting step, thereby reducing fulfillment costs.

Abstract: A method for performing localization and mapping of a mapping device. The method includes: capturing images of environment by a visual sensor of the mapping device, and processing the captured images to obtain a set of high-resolution images and a set of low-resolution images; determining motion-scale measurement of the mapping device using an inertial sensor and an odometer; generating, by a controller of the mapping device, a first mask corresponding to dynamic features in the low-resolution images; extracting features from the high-resolution images; recovering, by the controller, poses of the mapping device based on the high-resolution images and the motion-scale measurements; filtering out, by the controller, the features from the high-resolution images that correspond to the first mask, to obtain filtered features; and performing, by the controller, localization and mapping using the poses and the filtered features.

Abstract: A system for selecting items to be stored in a warehouse from a list of candidate items. The system includes a computing device having a processor and a storage device storing computer executable code. The executed code is configured to: assign scores to the respective candidate items based on an item selection model; and select items from the candidate items to be stored in the warehouse according to the assigned scores under a capacity limit of the warehouse. The item selection model is configured with an Artificial Neural Network (ANN), having item data for an item as input and a score for that item as output. The score represents a probability that the item is to be stored in the warehouse. The ANN is trained by historical orders with an objective of maximizing a probability that the orders have their respective item(s) all stored in the same warehouse.

Abstract: Embodiments of the present disclosure disclose a method and an apparatus for determining a planar surface. A specific embodiment of the method comprises: determining, from obtained images of the environment that include a to-be-determined planar surface, feature points belonging to the to-be-determined planar surface; judging whether the number of the feature points belonging to the to-be-determined planar surface is smaller than a preset number threshold; if yes, generating first prompt information for prompting a user to add feature points on the to-be-determined planar surface; obtaining at least two first images including the added feature points; and in response to the number of the feature points belonging to the to-be-determined planar surface in the first images being no less than the preset number threshold, reconstructing the to-be-determined planar surface based on the first images so as to determine a location and an orientation of the to-be-determined planar surface.

Abstract: Embodiments of the present disclosure disclose a robot for sorting. A specific embodiment of the robot for sorting may comprise: at least one layer of trays; wherein an axial center of the tray is provided with a shaft; the tray is provided with a first slot that has an openable first door; an end of the tray extends upwardly to form a tray wall; a space separator for partitioning a storage bin is provided along the shaft of the tray till the tray wall; and the space separator is in rotary connection to the shaft of the tray and is rotatable about the shaft of the tray. This embodiment may adjust the size of the storage bin and the number of items placed in the storage bin, and by outputting the item through the openable first door, the output efficiency of the item in the storage bin is improved.

Abstract: A system and method for realizing augmented reality. The system includes a visual sensor configured to capture images of an environment and a computing device in communication with the visual sensor. The computing device has a processor and a storage device storing computer executable code. The computer executable code, when executed at the processor, is configured to: identify two-dimensional (2D) objects in the captured images; construct a three-dimensional (3D) map of the environment using the captured images; define 3D objects in the 3D map by mapping the 2D objects identified in the captured images to the corresponding points in the 3D map; and render a 3D model on the 3D map based on the 3D objects defined in the 3D map.

Abstract: The present disclosure discloses a space separator for a sorting robot. A preferred embodiment of the space separator may comprise: at least one layer of trays, an axial center of the tray being provided with a shaft, the tray being provided with a slot in which an openable tray door is provided, an end of the tray extending upwards to form a tray wall; wherein the space separator is disposed along the shaft of the tray till the tray wall, the space separator being rotatable about the shaft of the tray. This embodiment enables a flexible adjustment of the number and size of the storage bins divided on the tray with the space separator.

Abstract: A flexible suction device and a robot system using the same are provided. The flexible suction device includes a flexible tube portion, and a suction cup connected to one end of the flexible tube portion, such that the suction cup may grasp an object by a suction force. The flexible tube portion is controllable to switch between a straight state and at least one bending state, such that the flexible tube portion is configured to bend from the straight state to the at least one bending state in order to swing and flip the object being grasped by the suction cup. In operation, the flexible suction device is controlled to grasp and lift the object in the straight state, and then switch to the bending state in order to swing the object being grasped. Thus, the flexible suction device may release the object, such that the object is flipped.

Abstract: A system and method for realizing multi-user augmented reality. The system includes a first and second computing devices in communication with each other, and respectively constructing a first and a second three-dimensional (3D) maps of a same environment at different viewing angles and positions. The first and second computing devices are configured to assign one of the 3D maps as a reference map, and align the other one of the 3D maps to the reference map, such that the 3D maps have the same coordinate system. A 3D model of a product is also placed and rendered in the two 3D maps, and the operation of the 3D model in one computing device is reflected in the other computing device at real time.

Abstract: A method is disclosed for increasing a parametric output of a parametric loudspeaker system. The method can include the operation of providing multiple ultrasonic frequency emission zones that output signals in a frequency band. The phase relationships of the ultrasonic frequency emission zones can be correlated and controlled to increase phase coherence between each ultrasonic frequency emission zone to maximize parametric output. Correlating and controlling the phase relationships can include offsetting a frequency of a carrier signal applied to each emission zone from a resonant frequency of each emission zone in view of a rate of change of phase of each emission zone in a vicinity of each resonant frequency. Ultrasonic energy from the ultrasonic frequency emission zones can be generated, using the correlated phase relationship to increase the parametric output.

Abstract: A parametric loudspeaker system using improved modulators to compensate for the non-linearity of the parametric process in air when driving the air at saturation levels and below saturation levels. The parametric loudspeaker uses a pre-processed single sideband modulator that offers ideal linearity as characterized by square root pre-processed double sideband modulators but with a lower carrier frequency and without the wide bandwidth requirements. By eliminating some or all of the lower sideband the carrier frequency can be reduced without producing sideband frequencies in the audible range. Lower operational frequencies result in greater translation efficiency and greater output capability before reaching the saturation limit of air. A pre-processor minimizes the effects of saturation limits for double sideband, truncated double sideband or single sideband processing to achieve superior output.

Abstract: Systems, methods and processes for cleaning and testing electronic assemblies are described. A cleaning and testing apparatus may include a cleaning chamber, a solvent input into the cleaning chamber, a resistivity sensor within the cleaning chamber for sensing resistivity of the solvent; and a solvent output for removing the solvent from the cleaning chamber. The cleaning chamber may receive one or more electronic assemblies. A user may initiate a cleaning cycle, a testing cycle or a cleaning cycle followed by a testing cycle. The one or more electronic assemblies may be contacted with a solvent. Resistivity of the solvent after contact with the electronic assemblies may be measured and compared with an original resistivity of the solvent before contact with the electronic assemblies. The amount of ionic residues on the electronic assemblies may be determined based upon the comparing step.

Abstract: A parametric loudspeaker system and method for reducing distortion in a decoupled audio wave by creating a double sideband parametric ultrasonic signal that substantially approximates a non-square-rooted modulation envelope and emitting a parametric ultrasonic wave that corresponds to the double sideband parametric ultrasonic signal from a parametric loudspeaker at a sufficient amplitude to drive the surrounding air into saturation.

Abstract: A method and system of producing a parametric ultrasonic wave to be decoupled in air to create a decoupled audio wave that closely corresponds to an audio input signal. The method is comprised of ascertaining 402 a linear response over a predefined frequency range of an acoustic output of an electro-acoustical emitter to be used for parametric ultrasonic output. A parametric ultrasonic processed signal is then created by adjusting 404 linear parameters of at least one sideband frequency range of a parametric ultrasonic signal to compensate for the linear response of the acoustic output of the electro-acoustical emitter such that when the parametric ultrasonic processed signal is emitted from the electro-acoustical emitter, the parametric ultrasonic wave is propagated, having sidebands that are closely matched at least at a predefined point in space over the at least one sideband frequency range.