Abstract: This document describes change detection criteria for updating sensor-based maps. Based on an indication that a registered object is detected near a vehicle, a processor determines differences between features of the registered object and features of a sensor-based reference map. A machine-learned model is trained using self-supervised learning to identify change detections from inputs. This model is executed to determine whether the differences satisfy change detection criteria for updating the sensor-based reference map. If the change detection criteria is satisfied, the processor causes the sensor-based reference map to be updated to reduce the differences, which enables the vehicle to safely operate in an autonomous mode using the updated reference map for navigating the vehicle in proximity to the coordinate location of the registered object.

Abstract: The present disclosure discloses a method for route optimization based on dynamic window and redundant node filtering, comprising using an existing raster map data set to determine the coordinate information of a starting position and a destination position of movement, and to mark a destination node and an obstacle node in the raster map; using A* algorithm to plan a global route; globally optimizing the global route planned by A* algorithm, and filtering redundant nodes out; combining a dynamic window algorithm to perform the local optimization section by section on the optimized global route so as to obtain a final global route. According to the present disclosure, the combination of algorithms reduces a single movement duration of a mobile robot and improves the smoothness of the movement route curve. At the same time, the problems of the robot occurring on the route during the static driving are alleviated.

Abstract: A method and a system for traversing a planned path in a marked facility are provided. A transport vehicle transits from a first location to a second location in the marked facility for traversing the planned path. The first and second locations are indicated by first and second location markers, respectively. The transport vehicle records a movement pattern of the transport vehicle, while transiting from the first location to the second location. The transport vehicle halts at an intermediate location when the transport vehicle fails to detect the second location marker at the second location. A first path traversed to reach the intermediate location from the first location is retraced by the transport vehicle based on the recorded movement pattern. On reaching the first location, the transport vehicle re-attempts to transit from the first location to the second location.

Abstract: In some example embodiments, a computer system performs operations comprising: receiving a request for a transportation service associated with a place; determining a type of the transportation service from among a plurality of types of transportation services based on the request; retrieving an entrance geographic location for the place from a database based on the type of the transportation service, the entrance geographic location being stored in association with the place in the database, and the entrance geographic location representing an entrance for accessing the place; generating route information based on the retrieved entrance geographic location, the route information indicating a route from an origin geographic location of a computing device of a user to the entrance geographic location of the place; and causing the generated route information to be displayed within a user interface on a computing device of the user.

Abstract: An autonomous mobile device (AMD) uses sensors to explore a physical space and determine the locations of obstacles. Simultaneous localization and mapping (SLAM) techniques are used to process images from cameras to determine location and trajectory of the device. As the AMD moves and explores to generate an occupancy map, errors in the localization accrue. The occupancy map is processed to determine a graph that is based on, for a given point in physical space, a distance, relative direction, and a characteristic of a closest obstacle. A first graph based on a global occupancy map may be compared to a second graph based on a local occupancy map to determine a displacement between the local occupancy map and the global occupancy map. To facilitate loop closure, the AMD may navigate to a point along the first graph, where a loop closure process may be performed.

Abstract: A method and an apparatus for generating a route planning model and a storage medium are provided. The method for generating a route planning model includes: obtaining a target route data set associated with a target site; and determining a target route planning model of the target site with a site optimization object corresponding to the target site, based on the target route data set and a first route planning model; wherein the first route planning model is determined based on a set of historical route data through at least a first training, the set of historical route data being associated with a plurality of sites different from the target site and a first training optimization object for the first training corresponding to the plurality of sites.

Abstract: A robotically controlled system including a fence enclosure that can move and/or shape-shift itself autonomously and automatically without manual intervention. The system includes coils of electric fence wire that are spring-loaded or otherwise tensioned so that the length of electric fence wire between each post robot is able to contract or expand as the system of robots adapts to optimize the shape of the fence enclosure as the entire enclosure is moved by the robots around a field or other grazing pasture on an area of land.

Abstract: Disclosed are a method and apparatus for controlling a vehicle speed for autonomous driving, an electronic device and a computer-readable storage medium. The method includes: obtaining a basic vehicle speed control instruction output by a central controller of a target vehicle in real time; generating an ideal speed parameter matching the basic vehicle speed control instruction according to a preset processing delay; generating an additional vehicle speed control instruction to perform vehicle speed control on the target vehicle according to a difference between the ideal speed parameter and a real-time speed parameter of the target vehicle; and returning to perform the operation of generating the ideal speed parameter matching the basic vehicle speed control instruction according to the preset processing delay until the real-time speed parameter of the target vehicle tends to be consistent with the ideal speed parameter.

Abstract: A route setting device includes: a route candidate generation unit that generates multiple route candidates from a current position to a destination; an index calculation unit that calculates, for each of the multiple route candidates, a change index that indicates a probability that an automatic driving system performs a driving change request when a vehicle travels along each of the multiple route candidates by using the automatic driving system; a display unit that associates the multiple candidates with the change index calculated for each of the multiple route candidates, and display the multiple associated route candidates and the associated change index; an input unit that receives a selection among the multiple route candidates by an occupant of the vehicle; and a route setting unit that sets a route among the multiple route candidates based on the selection received by the input unit.

Abstract: According to a moving body, position and direction of a user are calculated from distance measurement data, and on the basis thereof, the position and direction of the moving body are calculated. If the moving body is located in the first or fourth quadrant of the user coordinate system, a right-side moving target is set as the moving target. If the moving body is in the second or the third quadrant of the user coordinate system, a left-side moving target is set as the moving target. Accordingly, the moving target is set on the basis of the position of the moving body with respect to the user, so the moving body is prevented from cutting across in front of the user while its travelling.

Abstract: A method for determining a route of a robot is provided such that a moving apparatus can move smoothly to a destination point while avoiding interference with a plurality of moving objects such as traffic participants. In an environment in which a plurality of second pedestrians moves along predetermined movement patterns, a plurality of movement routes when a first pedestrian moves toward a destination point is recognized. Data, in which a compound environmental image constituted of time series of environmental images indicating a visual environment around a virtual robot when the virtual robot moves along each of the plurality of movement routes and a moving direction command indicating a moving direction of the virtual robot are combined, is generated as learning data. Model parameters of a CNN (action model) is learned using the learning data, and a moving velocity command for a robot is determined using a learned CNN.

Abstract: A method and device for extracting key frames in simultaneous localization and mapping and a smart device. The method includes acquiring an image frame from an image library storing a plurality of image frames of an unknown environment, and performing feature extraction on the image frame to obtain information of feature points, wherein the information includes a quantity of feature points; acquiring relative motion information of the image frame relative to the previous key frame, and calculating an adaptive threshold currently used by using the relative motion information; and selecting a key frame according to the information of feature points and the adaptive threshold indicating space information of image frames.

Abstract: The present invention relates to the field of navigation. Disclosed is a route planning method for a mobile vehicle, comprising: partitioning an operation area of a mobile vehicle into blocks using a grid cell as a minimum unit to obtain operation blocks, and performing a reciprocating operation in each operation block in a traversing manner; after the mobile vehicle completes the operation in one operation block, moving to another operation block to perform the reciprocating operation therein in the same traversing manner. The present invention can cause a mobile vehicle to obtain a plurality of operation blocks on the basis of an electronic grid map of known information by means of a block partitioning algorithm, and plan an operation route in each operation block by means of a reciprocating and traversing route planning algorithm in each operation block.