Abstract: Disclosed are a method and apparatus for avoiding collisions with obstacles by a first vehicle using sensors on an accompanying second vehicle. The second vehicle navigates proximate the first vehicle while aiming an obstacle detection sensor at a path of the first vehicle to detect objects in the path of the first vehicle. The locations of the objects are determined and transmitted to the first vehicle.

Abstract: Systems and methods are disclosed for placing a set of building elements within a building model. A set of space bodies are defined within a building, where each of the set of space bodies represents a non-overlapping volume within the building. A set of gaps are formed between the set of space bodies. A set of placement rules for the set of building elements are obtained based on physical characteristics of the set of gaps. A set of placements for the set of building elements within the building model are generated in accordance with the set of placement rules.

Abstract: An augmented-reality device is used with a surveying system to guide a base station, such as a total station, during relock after loss of line of sight with a surveying instrument, such as a surveying pole with a reflective prism. A position of the surveying instrument in relation to the augmented-reality device is calculated while an object in the environment blocks line of sight from the base station to the surveying instrument. A position of the surveying instrument in relation to the environment is calculated based on the position of the surveying instrument in relation to the augmented-reality device. The position of the surveying instrument in relation to the environment is used by the base station to point toward to the surveying instrument.

Abstract: Described herein are systems, methods, and other techniques for determining vehicle turn difficulty using overhead satellite imagery. In some implementations, an overhead image of a road intersection is obtained. A footprint of the road intersection is predicted using the overhead image. The footprint of the road intersection is analyzed to calculate one or more distances associated with a turn at the road intersection. A turn difficulty value associated with the turn is calculated based on the one or more distances for the turn.

Abstract: A sampling device receives, from each a plurality of transducer computing devices, respective vibration input samples. The sampling device generates a loop buffer corresponding to a most recent threshold number of samples received from each of the plurality of transducer computing devices including first and second transducer devices each located within a predefined proximity to first and second flow tubes of an equipment. The sampling device accesses, from the loop buffer, a most recent first sample logged by the first transducer computing device. The sampling device assigns, using a trained model, the first input sample to a first category of a set of categories. The sampling device accesses, from the loop buffer subsequent to accessing the first sample, a most recent second sample logged by a second transducer computing device and, using the model, assigns the second input sample to a second category of the set of categories.

Abstract: Disclosed are techniques for avoiding collisions with obstacles by a vehicle, in particular an off-road vehicle. Objects are detected with sensors in a calculated projected path zone of the vehicle footprint based on a vehicle trajectory. Possible path zones on either side of the projected path zone where the vehicle could potentially go with a change in trajectory are determined. The vehicle is slowed down or stopped for objects in the projected path and is slowed less for objects within the possible path zones.

Abstract: Methods for determining corrected positions of a global navigation satellite system (GNSS) rover using a GNSS base station and one or more GNSS reference stations include determining a statistical representation of position measurements from the GNSS reference stations and an instantaneous position measurement from the GNSS reference stations. A position correction is determined based on the statistical representation and the instantaneous position measurement. A corrected position of the GNSS rover is determined based on a position of the GNSS rover and the position correction.

Abstract: Embodiments describe a method for positioning a hinged vehicle including a primary part and a secondary part coupled to the primary part at a project site. The method includes receiving, from an image capturing device, digital image data representing one or more features of the secondary part; performing image analysis on the digital image data to identify positions of the one or more features of the secondary part; identifying an angle of at least a portion of the secondary part; calculating a current position of the secondary part based on the angle; calculating a positional difference between a correct position at the project site for the secondary part and a current position of the secondary part at the project site; and initiating a change in a position of the primary part to compensate for the positional difference and to position the secondary part on the correct position.

Abstract: A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a previous navigation solution, and (ii) a specific force vector and an angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to perform an a priori transformation of RI data acquired by the RI sensor using the current navigation solution to obtain transformed RI data, an RI map database configured to retrieve a valid keyframe map based on the transformed RI data, and an RI filter manager (RFM) configured to construct a map registration cost gradient (MRCG) measurement based on (i) the transformed RI data, and (ii) the known position and the known orientation of the valid keyframe map. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the MRCG measurement.

Abstract: A method of area coverage planning with replenishment planning includes receiving information of a boundary of the work area, location information of one or more refill stations, and information of a current amount of the material left in the autonomous vehicle, laying a plurality of tracks within the boundary of the work area so as to minimize a total distance of the plurality of tracks, generating a coverage trajectory, and based on (i) the coverage trajectory, (ii) the location information of the one or more refill stations, (iii) the current amount of the material left in the autonomous vehicle, and (iv) a nominal full amount and a nominal consumption rate of the material by the autonomous vehicle, determining one or more logistic points along the coverage trajectory at which a remaining amount of the material reaches a threshold, for each logistic point, generating a replenishment trajectory.

Abstract: Disclosed are techniques for navigating a mobile machine, such as an autonomous robot, in an environment that includes objects that may block, reflect, or distort satellite signals to be used for positioning. Satellite data may be captured from one or more satellites. An image may be captured using an imaging device that is at least partially oriented toward the one or more satellites. A set of sky scores may be calculated for a set of ground positions surrounding the mobile machine based on the satellite data and the image. Each of the set of sky scores may be indicative of an accuracy of a satellite-based position at one of the set of ground positions. The mobile machine's navigation may be modified using the set of sky scores.

Abstract: A system for providing manual guidance of a vehicle includes a first inertial measurement unit (IMU) attached to a steering wheel, a second IMU attached to a fixed part of the vehicle, a global navigation satellite systems (GNSS) receiver, a data storage device for storing a pre-planned path, and a feedback module. The feedback module is configured to determine a current angle of the steering wheel, determine a deviation of the current position of the vehicle from the pre-planned path, determine a current heading of the vehicle, determine a current velocity of the vehicle, and determine a desired angle of the steering wheel relative to the vehicle. The system further includes a user interface configured to provide a visual indication of the desired angle of the steering wheel or a deviation of the current angle of the steering wheel from the desired angle of the steering wheel.

Abstract: A navigation system useful for providing speed and heading and other navigational data to a drive system of a moving body, e.g., a vehicle body or a mobile robot, to navigate through a space. The navigation system integrates an inertial navigation system, e.g., a unit or system based on an inertial measurement unit (IMU). with a vision-based navigation system unit or system such that the inertial navigation system can provide real time navigation data and the vision-based navigation can provide periodic, but more accurate, navigation data that is used to correct the inertial navigation system's output. The navigation system was designed with the goal in mind of providing low effort integration of inertial and video data. The methods and devices used in the new navigation system address problems associated with high accuracy dead reckoning systems (such as a typical vision-based navigation system) and enhance performance with low cost IMUs.

Abstract: A laser scanner is used with a mixed reality device to track and/or locate objects in an environment, such as a construction site. In some configurations, mixed reality is used to assist laser scanning. A collection of data points representing a point cloud can be acquired with a laser scanner. A reference frame of a mixed-reality device is aligned to the data of the point cloud. A graphic is presented on a display of the mixed-reality device. The graphic is positioned on the display in relation to the environment, based on the reference frame of the mixed-reality device being aligned to data of the point cloud. An item in the environment is tracked (e.g., a hazard or a tool). Data is provided to the mixed-reality device regarding a position of the item in the environment.

Abstract: A navigation system includes an IMU, a navigation estimator configured to estimate a current navigation solution based on (i) a last navigation solution, and (ii) a specific force vector and an angular rate vector measured by the IMU, an RI sensor, an RI data preprocessor configured to: perform a priori transformations of last RI data and current RI data to obtain transformed last RI data and transformed current RI data based on the last navigation solution and the current navigation solution, respectively, an RI filter manager (RFM) configured to construct a delta pose registration cost gradient (DPRCG) measurement based on (i) the transformed last RI data, (ii) the transformed current RI data, (iii) the current navigation solution, and (iv) the last navigation solution. The navigation estimator is further configured to determine an absolute navigation solution based on at least (i) the current navigation solution, and (ii) the DPRCG measurement.

Abstract: A method of area coverage planning for an autonomous vehicle includes, at a computer system, receiving information of a boundary of a work area, and laying a plurality of tracks within the boundary of the work area. The plurality of tracks is spaced apart from each other by a spacing. Laying the plurality of tracks includes, based on the information of the boundary of the work area, performing a multivariate optimization to: (i) determine an optimal direction of the plurality of tracks, and (ii) an optimal offset for a first track from the boundary, so as to minimize a total distance of the plurality of tracks. The method further includes generating a trajectory that is traversable by the autonomous vehicle to traverse the plurality of tracks.

Abstract: Disclosed are techniques for automatically optimizing radar filter parameters. In embodiments, radar sensor data is captured from a radar sensor on a moving machine/vehicle. The radar sensor data is filtered using radar filter parameters to produce filtered radar sensor data. Radar obstacle points are produced from the filtered radar sensor data. Lidar sensor data is captured from a lidar sensor on the moving machine. Lidar obstacle points are produced from the lidar sensor data. The radar filter parameters are optimized using the lidar obstacle points.

Abstract: The invention relates to a survey system comprising an antenna, a sensor, and a control unit. The antenna is configured for receiving one or more positioning signal, such as for example global navigation satellite system (GNSS) signals. The sensor is configured for determining whether the antenna is in a static state, and/or producing information based on which a determination as to whether the antenna is in a static state can be made. The control unit is configured for, if the antenna is determined to be in a static state, obtaining a positioning measurement based on the positioning signal(s). The invention also relates to a method for operating such a system, and to computer programs and computer program products for carrying out such a method.

Abstract: Sets of digital samples associated with received wireless signals are received, each of the sets of digital samples corresponding to a particular RF path. The sets of digital samples are provided to a plurality of pipelines, each of the plurality of pipelines including a plurality of stages, each of the plurality of stages including one or more digital logic circuits. Sets of interconnect data are generated by the plurality of pipelines based on the sets of digital samples, the sets of interconnect data including at least one accumulating value. The sets of interconnect data are passed between adjacent pipelines of the plurality of pipelines along a direction. A result is generated by a last pipeline of the plurality of pipelines based on the at least one accumulating value.

Abstract: An augmented-reality system is combined with a surveying system to make measurement and/or layout at a construction site more efficient. A reflector can be mounted to a wearable device having an augmented-reality system. A total station can be used to track a reflector, and truth can be transferred to the wearable device while an obstruction is between the total station and the reflector. Further, a target can be used to orient a local map of a wearable device to an environment based on a distance between the target and the wearable device.