Abstract: An autonomous mobile device (AMD) may move around a physical space while performing tasks. Sensor data is used to determine an occupancy map of the physical space. Some objects within the physical space may be difficult to detect because of characteristics that result in lower confidence in sensor data, such as transparent or reflective objects. To include difficult-to-detect objects in the occupancy map, image data is processed to identify portions of the image that includes features associated with difficult-to-detect objects. Given the portion that possibly includes difficult-to-detect objects, the AMD attempts to determine where in the physical space that portion corresponds to. For example, the AMD may use stereovision to determine the physical area associated with the features depicted in the portion. Objects in that area are included in an occupancy map annotated as objects that should persist unless confirmed to not be within the physical space.

Abstract: An autonomous mobile device (AMD) in a physical space uses its own reflection to detect and map reflective surfaces. A first image is acquired by a camera of the AMD at a first time while a light on the AMD is turned on. The first image is processed to find a candidate reflection, characterized by a bright spot in the image. A second image is acquired at a second time while the light is off. The reflection is confirmed by absence of the candidate reflection in the second image. A display on the AMD presents a displayed image at a third time. A third image acquired during the third time is processed to find the features of the displayed image. Once found, a location and orientation in physical space of a plane of the surface causing the reflection is calculated. An occupancy map is updated to include this information.

Abstract: An autonomous mobile device (AMD) builds up electrostatic charges from moving and generates heat from the operation of internal components. In addition to possible user discomfort, electrostatic discharges may damage sensors and electronics. Electrostatic charges are dissipated from the AMD using an electrostatic dissipation structure and conductive wheels. A conductive path between a chassis ground, the electrostatic dissipation structure, and the conductive wheels improves the dissipation of electrostatic charges. Electrostatic charges are also dissipated from components by mounting the components using conductive materials. Sensors may be affixed to a support structure that is affected by thermal expansion. Thermal expansion may distort precise positioning of sensors, reducing accuracy of sensor data. An elastomeric foam may be used to mount sensors to a support structure, allowing for thermal expansion without distorting the positioning of the sensors.

Abstract: Techniques for user identification by a biometric monitoring device are disclosed. In one aspect, a method of operating a biometric monitoring device may involve measuring a weight of a user in response to detecting that the user is standing on a platform, determining, based on sensor data generated by a sensor, a user parameter indicative of the user's identification, identifying one of a plurality of user profiles as corresponding to the user based on a comparison of the user parameter to parameter values and a comparison of the measured weight of the user to weight values, and updating the identified user profile based on at least one of the measured weight and the user parameter.

Abstract: Techniques for user identification by a biometric monitoring device are disclosed. In one aspect, a method of operating a biometric monitoring device may involve measuring a weight of a user in response to detecting that the user is standing on a platform, determining, based on sensor data generated by a sensor, a user parameter indicative of the user's identification, identifying one of a plurality of user profiles as corresponding to the user based on a comparison of the user parameter to parameter values and a comparison of the measured weight of the user to weight values, and updating the identified user profile based on at least one of the measured weight and the user parameter.

Abstract: Techniques for user identification by a biometric monitoring device are disclosed. In one aspect, a method of operating a biometric monitoring device may involve measuring a weight of a user in response to detecting that the user is standing on a platform, determining, based on sensor data generated by a sensor, a user parameter indicative of the user's identification, identifying one of a plurality of user profiles as corresponding to the user based on a comparison of the user parameter to parameter values and a comparison of the measured weight of the user to weight values, and updating the identified user profile based on at least one of the measured weight and the user parameter.

Abstract: Techniques for user identification by a biometric monitoring device are disclosed. In one aspect, a method of operating a biometric monitoring device may involve measuring a weight of a user in response to detecting that the user is standing on a platform, determining, based on sensor data generated by a sensor, a user parameter indicative of the user's identification, identifying one of a plurality of user profiles as corresponding to the user based on a comparison of the user parameter to parameter values and a comparison of the measured weight of the user to weight values, and updating the identified user profile based on at least one of the measured weight and the user parameter.

Abstract: Techniques for user identification by a biometric monitoring device are disclosed. In one aspect, a method of operating a biometric monitoring device may involve measuring a weight of a user in response to detecting that the user is standing on a platform, determining, based on sensor data generated by a sensor, a user parameter indicative of the user's identification, identifying one of a plurality of user profiles as corresponding to the user based on a comparison of the user parameter to parameter values and a comparison of the measured weight of the user to weight values, and updating the identified user profile based on at least one of the measured weight and the user parameter.

Abstract: An apparatus, system, and method for dual mode imaging under different lighting conditions. A sensor is configured to image a target. A dual-mode illumination source is configured to illuminate the target while the sensor images the target. The dual-mode illumination source is configured to illuminate the target using a first wavelength of light under a first lighting condition and to illuminate the target using a second wavelength of light under a second lighting condition. The system may be used in an optical tracking system to track the motion of an object.

Abstract: Techniques for user identification by a biometric monitoring device are disclosed. In one aspect, a method of operating a biometric monitoring device may involve measuring a weight of a user in response to detecting that the user is standing on a platform, determining, based on sensor data generated by a sensor, a user parameter indicative of the user's identification, identifying one of a plurality of user profiles as corresponding to the user based on a comparison of the user parameter to parameter values and a comparison of the measured weight of the user to weight values, and updating the identified user profile based on at least one of the measured weight and the user parameter.

Abstract: A method, a system, and a computer program product for tracking an object moving relative to a moving platform, the moving platform moving relative to an external frame of reference. The system includes An inertial sensor for tracking the object relative to the external reference frame, a non-inertial sensor for tracking the object relative to the moving platform, and a processor to perform sensor fusion of the inertial and non-inertial measurements in order to accurately track the object and concurrently estimate the misalignment of the non-inertial sensor's reference frame relative to the moving platform.

Abstract: Techniques for automatic tracking of user data for exercises are disclosed. In one aspect, a method of operating a wearable device may involve determining that a user of the wearable device has started an exercise, activating the GPS receiver in response to determining that the user has started the exercise, and detecting a time at which the GPS receiver achieves an initial GPS fix of a location of the wearable device. The method may further involve logging, based on output of the one or more biometric sensors, a first set of user data during a first time interval between the start of the exercise and the detected time of the initial GPS fix, and back-filling an exercise route of the user during the first time interval based on the first set of user data.

Abstract: Technology described in this document can be embodied in an optical sensor that includes a rectangular array of at least four photodetector cells of substantially equal size. An opaque mask is affixed over the rectangular array. The opaque mask defines a substantially rectangular aperture for admitting light onto only a portion of the surface of each of the at least four photodetector cells, where the aperture can be centrally positioned over the rectangular array.

Abstract: An apparatus, system, and method for dual mode imaging under different lighting conditions. A sensor is configured to image a target. A dual-mode illumination source is configured to illuminate the target while the sensor images the target. The dual-mode illumination source is configured to illuminate the target using a first wavelength of light under a first lighting condition and to illuminate the target using a second wavelength of light under a second lighting condition. The system may be used in an optical tracking system to track the motion of an object.

Abstract: Techniques for automatic tracking of user data for exercises are disclosed. In one aspect, a method of operating a wearable device may involve determining that a user of the wearable device has started an exercise, activating the GPS receiver in response to determining that the user has started the exercise, and detecting a time at which the GPS receiver achieves an initial GPS fix of a location of the wearable device. The method may further involve logging, based on output of the one or more biometric sensors, a first set of user data during a first time interval between the start of the exercise and the detected time of the initial GPS fix, and back-filling an exercise route of the user during the first time interval based on the first set of user data.

Abstract: Aspects of the present invention relate to systems, methods, and computer program products for tracking an orientation of a first object. The system includes a light emitting device located relative to a second object at a fixed predetermined position; a sensor having a photodetector array that is configured to receive incident light emitted from the light emitting device, the photodetector array being mounted on the first object; and a processor coupled to the photodetector array, the processor configured to determine the orientation of the first object relative to the second object based on an angle of incident light detected by the photodetector array from the light emitting device.

Abstract: A method, a system, and a computer program product for tracking an object moving relative to a moving platform, the moving platform moving relative to an external frame of reference. The system includes An inertial sensor for tracking the object relative to the external reference frame, a non-inertial sensor for tracking the object relative to the moving platform, and a processor to perform sensor fusion of the inertial and non-inertial measurements in order to accurately track the object and concurrently estimate the misalignment of the non-inertial sensor's reference frame relative to the moving platform.

Abstract: Technology described in this document can be embodied in an optical sensor that includes a rectangular array of at least four photodetector cells of substantially equal size. An opaque mask is affixed over the rectangular array. The opaque mask defines a substantially rectangular aperture for admitting light onto only a portion of the surface of each of the at least four photodetector cells, where the aperture can be centrally positioned over the rectangular array.

Abstract: Aspects of the present invention relate to systems, methods, and computer program products for tracking an orientation of a first object. The system includes a light emitting device located relative to a second object at a fixed predetermined position; a sensor having a photodetector array that is configured to receive incident light emitted from the light emitting device, the photodetector array being mounted on the first object; and a processor coupled to the photodetector array, the processor configured to determine the orientation of the first object relative to the second object based on an angle of incident light detected by the photodetector array from the light emitting device.

Abstract: Among other things, positioning a magnetic instrument on a pedestrian; positioning an inertial instrument on a foot of a pedestrian; receiving positioning signals at the pedestrian; aligning the inertial instrument based in part on the received positioning signals; calibrating the magnetic instrument using the inertial instrument; and tracking the pedestrian using the calibrated magnetic instrument and the inertial instrument.