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.

Abstract: The invention is related to methods and apparatus that detect motion by monitoring images from a video camera mounted on a mobile robot, such as an autonomously navigated mobile robot. Examples of such robots include automated vacuum floor sweepers. Advantageously, embodiments of the invention can automatically sense a robot's motional state in a relatively reliable and cost-efficient manner. Many configurations of robots are configured to include at least one video camera. Embodiments of the invention permit the use of a video camera onboard a robot to determine a motional state for the robot. This can advantageously permit the motional state of a robot to be determined at a fraction of the cost of additional sensors, such as a laser, an infrared, an ultrasonic, or a contact sensor.

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.

Abstract: A circuit system for estimating position and orientation of a mobile object based on lights from a plurality of external light sources. The circuit comprises a position-sensitive light sensor for detecting the light sources and generating a first signal, an analog filter and amplification module (“AFA”) for filtering and amplifying the first signal and generating a second signal, a digital signal processor (“DSP”) for generating a coordinate system by extracting frequency components from the second signal.

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.

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.

Abstract: Systems and methods for recognizing and identifying items located on the lower shelf of a shopping cart in a checkout lane of a retail store environment for the purpose of reducing or preventing loss or fraud and increasing the efficiency of a checkout process. The system includes one or more visual sensors that can take images of items and a computer system that receives the images from the one or more visual sensors and automatically identifies the items. The system can be trained to recognize the items using images taken of the items. The system relies on matching visual features from training images to match against features extracted from images taken at the checkout lane. Using the scale-invariant feature transformation (SIFT) method, for example, the system can compare the visual features of the images to the features stored in a database to find one or more matches, where the found one or more matches are used to identify the items.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

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 system.

Abstract: This invention is generally related to sequential methods and apparatus that permit the measurements from a plurality of sensors to be combined or fused in a robust manner. For example, the sensors can correspond to sensors used by a mobile device, such as a robot, for localization and/or mapping. The measurements can be fused for estimation of a measurement, such as an estimation of a pose of a robot.

Abstract: A circuit system for estimating position and orientation of a mobile object based on lights from a plurality of external light sources. The circuit comprises a position-sensitive light sensor for detecting the light sources and generating a first signal, an analog filter and amplification module (“AFA”) for filtering and amplifying the first signal and generating a second signal, a digital signal processor (“DSP”) for generating a coordinate system by extracting frequency components from the second signal.

Abstract: The invention is generally related to the estimation of position and orientation of an object with respect to a local or a global coordinate system using reflected light sources. A typical application of the method and apparatus includes estimation and tracking of the position of a mobile autonomous robot. Other applications include estimation and tracking of an object for position-aware, ubiquitous devices. Additional applications include tracking of the positions of people or pets in an indoor environment. The methods and apparatus comprise one or more optical emitters, one or more optical sensors, signal processing circuitry, and signal processing methods to determine the position and orientation of at least one of the optical sensors based at least in part on the detection of the signal of one or more emitted light sources reflected from a surface.

Abstract: A sensing device and method of estimating the position and orientation of an object with respect to a local or a global coordinate system is disclosed. The method and device include one or more optical sensor, a signal processing circuitry and a signal processing algorithm to determine the position and orientation. A sensor is positioned within the housing. At least one of the optical sensors used in the method and system outputs information based at least in part on the detection of the signal of one or more light sources.

Abstract: An apparatus and method of integrating optics into an IC package is for detecting light from at least one light source is disclosed. The apparatus has a housing, which has a predetermined spectral transmittance. A sensor is positioned within the housing. An opaque mask is applied to the housing, where the opaque mask has a hole aligned with the sensor such that the light's centroid is detected by the sensor. In one embodiment, the apparatus further comprises a substrate for positioning and stabilizing the sensor in the housing, an analog filter and amplification module (“AFA”) for filtering and amplifying signals from the sensor and generating a second signal, and a digital signal processor (“DSP”) for generating a coordinate system by extracting frequency components from the AFA output signal.

Abstract: The invention is generally related to the systems and methods through which household appliances can provide intuitive and enhanced interactivity through visual inputs. In particular, the disclosure presents methods relating to control of a household appliance, such as a microwave or a refrigerator, via recognition of visual indicia, such as graphics, text, and the like, using a visual sensor such as a camera.

Abstract: Methods and computer readable media for recognizing and identifying items located on the belt of a counter and/or in a shopping cart of a store environment for the purpose of reducing/preventing bottom-of-the-basket loss, checking out the items automatically, reducing the checkout time, preventing consumer fraud, increasing revenue and replacing a conventional UPC scanning system to enhance the checking out speed. The images of the items taken by visual sensors may be analyzed to extract features using the scale-invariant feature-transformation (SIFT) method. Then, the extracted features are compared to those of trained images stored in a database to find a set of matches. Based on the set of matches, the items are recognized and associated with one or more instructions, commands or actions without the need for personnel to visually see the items, such as by having to come out from behind a check out counter or peering over a check out counter.

Abstract: Systems and methods for recognizing and identifying items located on the lower shelf of a shopping cart in a checkout lane of a retail store environment for the purpose of reducing or preventing loss or fraud and increasing the efficiency of a checkout process. The system includes one or more visual sensors that can take images of items and a computer system that receives the images from the one or more visual sensors and automatically identifies the items. The system can be trained to recognize the items using images taken of the items. The system relies on matching visual features from training images to match against features extracted from images taken at the checkout lane. Using the scale-invariant feature transformation (SIFT) method, for example, the system can compare the visual features of the images to the features stored in a database to find one or more matches, where the found one or more matches are used to identify the items.

Abstract: This invention is generally related to methods and apparatus that permit the measurements from a plurality of sensors to be combined or fused in a robust manner. For example, the sensors can correspond to sensors used by a mobile, device, such as a robot, for localization and/or mapping. The measurements can be fused for estimation of a measurement, such as an estimation of a pose of a robot.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.