Abstract: Systems and methods of generating and updating a world model for autonomous vehicle navigation are disclosed. An autonomous vehicle system can receive sensor data from a plurality of sensors of an autonomous vehicle, where the sensor data is captured during operation of the autonomous vehicle; access a world model generated based at least on map information corresponding to a location of the operation of the autonomous vehicle; determine at least one semantic correction for the world model based on the sensor data; determine at least one geometric correction for the world model based on the sensor data and the map information; and generate an updated world model based on the at least one semantic correction and the at least one geometric correction.

Abstract: Fluid release detection is provided. A vehicle can determine, via a first sensor, a flow rate of a first fluid, such as a headspace gas, between an environment and a reservoir of the vehicle. The vehicle can receive a fluid consumption rate for a second fluid, such as a hydrocarbon fuel associated with the reservoir. The vehicle can detect, based on the flow rate and the fluid consumption rate, a fluid release of the reservoir. The vehicle can execute an action responsive to the detection of the fluid release.

Abstract: Systems and methods of generating and updating a world model for autonomous vehicle navigation are disclosed. An autonomous vehicle system can receive sensor data from a plurality of sensors of an autonomous vehicle, where the sensor data is captured during operation of the autonomous vehicle; access a world model generated based at least on map information corresponding to a location of the operation of the autonomous vehicle; determine at least one semantic correction for the world model based on the sensor data; determine at least one geometric correction for the world model based on the sensor data and the map information; and generate an updated world model based on the at least one semantic correction and the at least one geometric correction.

Abstract: Systems and methods of generating and updating a world model for autonomous vehicle navigation are disclosed. An autonomous vehicle system can receive sensor data from a plurality of sensors of an autonomous vehicle, where the sensor data is captured during operation of the autonomous vehicle; access a world model generated based at least on map information corresponding to a location of the operation of the autonomous vehicle; determine at least one semantic correction for the world model based on the sensor data; determine at least one geometric correction for the world model based on the sensor data and the map information; and generate an updated world model based on the at least one semantic correction and the at least one geometric correction.

Abstract: A method comprises identifying a set of radar data captured by at least one autonomous vehicle when the at least one autonomous vehicle was positioned in a lane of a roadway, and respective ground truth localization data of the at least one autonomous vehicle; filtering one or more objects identified via the set of radar data in accordance with an attribute of the one or more objects; generating a map layer to be included within a high definition map; identifying second set of radar data captured by a second autonomous vehicle when the at least one autonomous vehicle was positioned in the lane of the roadway, and respective ground truth localization data of the at least one autonomous vehicle; and localizing the second autonomous vehicle by executing a matching protocol to match an object within the second set of radar data with an object within the map layer.

Abstract: A method comprises instructing, by a processor, a time signal from a grand master clock to be transmitted to a second processor associated with a radar sensor of an autonomous vehicle; instructing, by the processor, the second processor associated with the radar sensor of the autonomous vehicle to sync an internal clock with the time signal; and retrieving, by the processor, radar data from the radar sensor.

Abstract: Systems and methods of automatic correction of map data for autonomous vehicle navigation are disclosed. An autonomous vehicle system can receive first sensor data from a first sensor of an autonomous vehicle and second sensor data from a second sensor of the autonomous vehicle, the first sensor data and the second sensor data captured during operation of the autonomous vehicle; generate, based on the first sensor data, a first prediction of a dimension of a lane of a road; generate, based on the second sensor data, a second prediction of a position of the autonomous vehicle within the lane of the road; determine a confidence value for the second prediction of the position of the autonomous vehicle within the lane of the road based on the first prediction and the second prediction; and navigate the autonomous vehicle based on the confidence value.

Abstract: Fluid release detection is provided. A vehicle can determine, via a first sensor, a flow rate of a first fluid, such as a headspace gas, between an environment and a reservoir of the vehicle. The vehicle can receive a fluid consumption rate for a second fluid, such as a hydrocarbon fuel associated with the reservoir. The vehicle can detect, based on the flow rate and the fluid consumption rate, a fluid release of the reservoir. The vehicle can execute an action responsive to the detection of the fluid release.

Abstract: Embodiments herein generally relate to methods, systems and devices for automated assembly of building structures. In at least one embodiment, there is provided a robotic assembly cell for assembling building structures. The robotic assembly cell comprises a perception sensor system; one or more assembly robots; and at least one processor operable to: receive instructions corresponding to an assembly sequence for assembling a building structure; determine a plurality of building parts required for assembling the building structure based on the assembly sequence; identify each building part within a facility, based on sensor data from the perception sensor system; configure the assembly robot to retrieve the target pieces; and configure the assembly robot to assemble the target pieces according to the assembly sequence.

Abstract: An autonomous pile driving system comprises an arm of an autonomous offroad vehicle (AOV) configured to hold and drive a pile, a chute configured to stabilize the pile as the pile is being driven. The autonomous pile driving system further comprises a controller configured to identify a location in the geographic area where a pile is to be driven (e.g., installed) and position the chute at the location. The controller aligns the pile secured by the AOV with an opening of the chute and inserts the pile into the chute by actuating an arm (or other suitable component) of the AOV securing the pile.

Abstract: The present disclosure provides a general purpose operating system (GPROS) that shows particular usefulness in the robotics and automation fields. The operating system provides individual services and the combination and interconnections of such services using built-in service extensions, built-in completely configurable generic services, and ways to plug in additional service extensions to yield a comprehensive and cohesive framework for developing, configuring, assembling, constructing, deploying, and managing robotics and/or automation applications. The disclosure includes GPROS extensions and features directed to use as an autonomous vehicle operating system. The vehicle controlled by appropriate versions of the GPROS can include unmanned ground vehicle (UGV) applications such as a driverless or self-driving car. The vehicle can likewise or instead include an unmanned aerial vehicle (UAV) such as a helicopter or drone.

Abstract: A robotic medical system includes a post being substantially vertical and coupled to a base; a robotic drive having a socket for receiving the post; and at least one tapered interface shaped and oriented to engage the socket to prevent rotation of the robotic drive about at least one axis.

Abstract: One aspect provides a modular inspection robot for inspecting vertical shafts, chambers or tunnels. An embodiment provides related methods and products. One method includes: capturing, using a plurality of video cameras associated with an infrastructure inspection unit, two or more videos of infrastructure; accessing, using one or more processors, image metadata indicating a mesh of connected vertices based on the two or more videos; selecting, using the one or more processors, image data of frames of the two or more videos for inclusion in an output based on the mesh; and outputting, using the one or more processors, a photo-realistic image of the infrastructure comprising the image data selected. Other examples are described and claimed.

Abstract: Systems and methods of automatic correction of map data for autonomous vehicle navigation are disclosed. One or more servers can receive, from a first autonomous vehicle traveling on a road, a first correction to map data identifying a location in the map data; generate a modified parameter of the map data based on the first correction and a second correction identifying the location, the second correction received from a second autonomous vehicle traveling on the road; update the map data based on the modified parameter; and provide the updated map data to the first autonomous vehicle.

Abstract: A method may include obtaining, from a kinematic vehicle model including a differential equation, by one or more processors associated with an autonomous vehicle, one or more candidate trajectories that satisfy one or more constraints relating to movement of the vehicle. The method may include iteratively updating, by the one or more processors, a score of each of the one or more candidate trajectories. The method may include determining, by the one or more processors among the one or more candidate trajectories, a target trajectory having a score that is greater than a threshold. The method may include executing, by the one or more processors, the target trajectory to cause the vehicle to move in the candidate trajectory.

Abstract: A method for media blasting a workpiece includes, during a scan cycle: accessing a first set of images captured by an optical sensor traversing a scan path over the workpiece; compiling the first set of images into a virtual model of the workpiece; accessing a first set of blast parameters; generating a first tool path for a first workpiece region of the workpiece based on a geometry of the workpiece represented in the virtual model and the first set of blast parameters. The method further includes, during a processing cycle: via the set of actuators, navigating the blast nozzle over the first workpiece region according to the first tool path; and projecting blasting media toward the workpiece according to the first set of blast parameters.

Abstract: Systems, apparatus, and methods are described for robotic learning and execution of skills. A robotic apparatus can include a memory, a processor, sensors, and one or more movable components (e.g., a manipulating element and/or a transport element). The processor can be operatively coupled to the memory, the movable elements, and the sensors, and configured to obtain information of an environment, including one or more objects located within the environment. In some embodiments, the processor can be configured to learn skills through demonstration, exploration, user inputs, etc. In some embodiments, the processor can be configured to execute skills and/or arbitrate between different behaviors and/or actions. In some embodiments, the processor can be configured to learn an environmental constraint. In some embodiments, the processor can be configured to learn using a general model of a skill.

Abstract: A catheter procedure system including a bedside system and a remote workstation is provided. The bedside system includes a catheter including an expandable percutaneous intervention device, a robotic catheter system configured to move the catheter, and an inflation device configured to cause expansion of the expandable percutaneous intervention device. The remote workstation includes a user interface configured to receive a at least first user input and a second user input and a control system operatively coupled to the user interface for remotely controlling both the robotic catheter system and the inflation device. The remote workstation includes a monitor configured to display information related to the expandable percutaneous intervention device.

Abstract: A health indicator system for a sensor pod includes one or more sensors associated with the sensor pod, a sensor pod housing, an internal sensor status monitoring system configured to determine a status of at least one sensor of the one or more sensors, and a plurality of visual indicators located on at least one exterior surface of the sensor pod housing, the plurality of visual indicators configured to display a predetermined configuration based on the determined status of each of the one or more sensors. The plurality of visual indicators are located on the sensor pod housing at a level such that when an external operator standing on a ground surface approaches the vehicle, the plurality of visual indicators is within the external operator's field of view.

Abstract: One variation of a method for stock keeping in a store includes: accessing an image captured by a fixed camera within the store; retrieving a field of view of the fixed camera; estimating a segment of an inventory structure in the store depicted in the image based on a projection of the field of view onto a planogram of the store; identifying a set of slots within the inventory structure segment; retrieving a product model representing a set of visual characteristics of a product type assigned to a slot, in the set of slots, by the planogram; extracting a constellation of features from the image; if the constellation of features approximates the set of visual characteristics in the product model, detecting presence of a product unit of the product type occupying the inventory structure segment; and representing presence of the product unit, occupying the inventory structure segment, in a realogram.