Patents by Inventor Jacob Thomson
Jacob Thomson has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 10614588Abstract: A method for vehicle positioning or navigation utilizing associated feature pairs may include creating a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each pair from the UV space information with pairs from each of the plurality of three-dimensional global feature points of the industrial facility map, calculating a best estimate poses from calculated vehicle poses of the associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position and setting a seed position as the current localized position. The navigation of the materials handling vehicle is tracked and/or navigated along the inventory transit surface navigate in at least a partially automated manner utilizing the current localized position.Type: GrantFiled: April 27, 2018Date of Patent: April 7, 2020Assignee: CROWN EQUIPMENT CORPORATIONInventors: Kashyap Chandrasekar, Ryan Estep, Jacob Thomson, Lucas Waltz
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Publication number: 20180247428Abstract: According to the embodiments described herein, a method for vehicle positioning or navigation utilizing associated feature pairs may include creating a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each pair from the UV space information with pairs from each of the plurality of three-dimensional global feature points of the industrial facility map, calculating a best estimate poses from calculated vehicle poses of the associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position and setting a seed position as the current localized position. The navigation of the materials handling vehicle is tracked and/or navigated along the inventory transit surface navigate in at least a partially automated manner utilizing the current localized position.Type: ApplicationFiled: April 27, 2018Publication date: August 30, 2018Applicant: Crown Equipment CorporationInventors: Kashyap Chandrasekar, Ryan Estep, Jacob Thomson, Lucas Waltz
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Patent number: 9984467Abstract: According to the embodiments described herein, a method for vehicle positioning or navigation utilizing associated feature pairs may include creating a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each pair from the UV space information with pairs from each of the plurality of three-dimensional global feature points of the industrial facility map, calculating a best estimate poses from calculated vehicle poses of the associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position and setting a seed position as the current localized position. The navigation of the materials handling vehicle is tracked and/or navigated along the inventory transit surface navigate in at least a partially automated manner utilizing the current localized position.Type: GrantFiled: June 26, 2015Date of Patent: May 29, 2018Assignee: Crown Equipment CorporationInventors: Kashyap Chandrasekar, Ryan Estep, Jacob Thomson, Lucas Waltz
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Patent number: 9606540Abstract: According to the embodiments described herein, a method for environmental based localization may include capturing an input image of a ceiling comprising a plurality of skylights. Features can be extracted from the input image. The features can be grouped into a plurality of feature groups such that each of the feature groups is associated with one of the skylights. Line segments can be extracted from the features of each feature group, automatically, with one or more processors executing a feature extraction algorithm on each feature group separately. At least two selected lines of the line segments of each feature groups can be selected. A centerline for each of the feature groups can be determined based at least in part upon the two selected lines. The center line of each of the feature groups can be associated with one of the skylights.Type: GrantFiled: September 22, 2015Date of Patent: March 28, 2017Assignee: Crown Equipment CorporationInventors: Mark Bell, Kashyap Chandrasekar, Lucas B. Waltz, Jacob Thomson
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Patent number: 9349181Abstract: According to the embodiments described herein, a method for lost vehicle recovery utilizing associated feature pairs may include, for a materials handling vehicle determined to be lost, creating a plurality of associated feature pairs by retrieving a subsequent set of camera data from a camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each formed pair with pairs from each of a plurality of three-dimensional global feature points of an industrial facility map. The method may further include calculating a best estimate pose from calculated vehicle poses of the associated feature pairs based on a highest-rated pair of the plurality of associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position, updating the seed position as the current localized position, and operating the materials handling vehicle utilizing the updated seed position.Type: GrantFiled: June 26, 2015Date of Patent: May 24, 2016Assignee: Crown Equipment LimitedInventors: Kashyap Chandrasekar, Ryan Estep, Jacob Thomson, Lucas Waltz
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Publication number: 20160011595Abstract: According to the embodiments described herein, a method for environmental based localization may include capturing an input image of a ceiling comprising a plurality of skylights. Features can be extracted from the input image. The features can be grouped into a plurality of feature groups such that each of the feature groups is associated with one of the skylights. Line segments can be extracted from the features of each feature group, automatically, with one or more processors executing a feature extraction algorithm on each feature group separately. At least two selected lines of the line segments of each feature groups can be selected. A centerline for each of the feature groups can be determined based at least in part upon the two selected lines. The center line of each of the feature groups can be associated with one of the skylights.Type: ApplicationFiled: September 22, 2015Publication date: January 14, 2016Applicant: CROWN EQUIPMENT LIMITEDInventors: Mark Bell, Kashyap Chandrasekar, Lucas B. Waltz, Jacob Thomson
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Publication number: 20150379704Abstract: According to the embodiments described herein, a method for lost vehicle recovery utilizing associated feature pairs may include, for a materials handling vehicle determined to be lost, creating a plurality of associated feature pairs by retrieving a subsequent set of camera data from a camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each formed pair with pairs from each of a plurality of three-dimensional global feature points of an industrial facility map. The method may further include calculating a best estimate pose from calculated vehicle poses of the associated feature pairs based on a highest-rated pair of the plurality of associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position, updating the seed position as the current localized position, and operating the materials handling vehicle utilizing the updated seed position.Type: ApplicationFiled: June 26, 2015Publication date: December 31, 2015Applicant: CROWN EQUIPMENT LIMITEDInventors: Kashyap Chandrasekar, Ryan Estep, Jacob Thomson, Lucas Waltz
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Publication number: 20150379715Abstract: According to the embodiments described herein, a method for vehicle positioning or navigation utilizing associated feature pairs may include creating a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each pair from the UV space information with pairs from each of the plurality of three-dimensional global feature points of the industrial facility map, calculating a best estimate poses from calculated vehicle poses of the associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position and setting a seed position as the current localized position. The navigation of the materials handling vehicle is tracked and/or navigated along the inventory transit surface navigate in at least a partially automated manner utilizing the current localized position.Type: ApplicationFiled: June 26, 2015Publication date: December 31, 2015Applicant: CROWN EQUIPMENT LIMITEDInventors: Kashyap Chandrasekar, Ryan Estep, Jacob Thomson, Lucas Waltz
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Patent number: 9170581Abstract: According to the embodiments described herein, a method for environmental based localization may include capturing an input image of a ceiling comprising a plurality of skylights. Features can be extracted from the input image. The features can be grouped into a plurality of feature groups such that each of the feature groups is associated with one of the skylights. Line segments can be extracted from the features of each feature group, automatically, with one or more processors executing a feature extraction algorithm on each feature group separately. At least two selected lines of the line segments of each feature groups can be selected. A centerline for each of the feature groups can be determined based at least in part upon the two selected lines. The center line of each of the feature groups can be associated with one of the skylights.Type: GrantFiled: September 29, 2014Date of Patent: October 27, 2015Assignee: Crown Equipment LimitedInventors: Mark Bell, Kashyap Chandrasekar, Lucas B. Waltz, Jacob Thomson
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Publication number: 20150094900Abstract: According to the embodiments described herein, a method for environmental based localization may include capturing an input image of a ceiling comprising a plurality of skylights. Features can be extracted from the input image. The features can be grouped into a plurality of feature groups such that each of the feature groups is associated with one of the skylights. Line segments can be extracted from the features of each feature group, automatically, with one or more processors executing a feature extraction algorithm on each feature group separately. At least two selected lines of the line segments of each feature groups can be selected. A centerline for each of the feature groups can be determined based at least in part upon the two selected lines. The center line of each of the feature groups can be associated with one of the skylights.Type: ApplicationFiled: September 29, 2014Publication date: April 2, 2015Applicant: Crown Equipment LimitedInventors: Mark Bell, Kashyap Chandrasekar, Lucas B. Waltz, Jacob Thomson