Patents by Inventor Damien Dusha
Damien Dusha 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: 11959774Abstract: Systems and methods for extrinsic calibration of vehicle-mounted sensors are provided. One example method involves obtaining first sensor data collected by a first sensor and a second sensor while a vehicle is aligned in a first yaw direction. The method also involves obtaining second sensor data collected by the first sensor and the second sensor while the vehicle is aligned in a second yaw direction. The method also involves determining, based on the first sensor data and the second sensor data, (i) first pitch and roll misalignments of the first sensor relative to the vehicle and (ii) second pitch and roll misalignments of the second sensor relative to the first sensor. The method also involves determining third pitch and roll misalignments of the second sensor relative to the vehicle based on (i) the first pitch and roll misalignments and (ii) the second pitch and roll misalignments.Type: GrantFiled: November 17, 2020Date of Patent: April 16, 2024Assignee: Waymo LLCInventors: Sheng Zhao, Damien Dusha, Craig Robinson, Volker Grabe
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Patent number: 11537123Abstract: A system is configured for confirming a mobile cooperative target being automatically tracked and measured by a total station or theodolite in order to automatically control a machine operation of a construction site machine. The system includes at least one total station or theodolite with a UWBST anchor-module having an anchor-ID, and a cooperative target associated with a UWBST tag-module having a tag-identifier (tag-ID) and being used for automatically controlling a machine operation of the construction site machine. The system can include a machine control unit associated with the construction site machine configured for controlling machine operations based on tracking and continuously measuring cooperative targets carried out by the total station or theodolite, and an ultra-wide band (UWB) distance meter associated with the UWBST anchor-module configured for measuring a distance (UWB-distance) between the UWBST anchor-module and the UWBST tag-module.Type: GrantFiled: March 14, 2020Date of Patent: December 27, 2022Assignee: LEICA GEOSYSTEMS AGInventors: Tommi Juhani Kauppinen, Damien Dusha
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Patent number: 10930095Abstract: A method for monitoring activities of a construction or mining vehicle. Signals from at least one acceleration sensor, accelerometer (2), and/or at least one angular rate sensor, gyro (4), are processed on a computing platform (3) which is programmed to determine the activity state of the vehicle based on signals received. A device arranged to perform the method may also include a device (7) for storing or communicating the result of the determination of the computing platform (3).Type: GrantFiled: April 7, 2017Date of Patent: February 23, 2021Assignee: LEICA GEO SYSTEMS TECHNOLOGY ABInventors: Doug Eggert, Guilherme Oliveira, Damien Dusha, Stuart Gray
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Publication number: 20200293037Abstract: A system is configured for confirming a mobile cooperative target being automatically tracked and measured by a total station or theodolite in order to automatically control a machine operation of a construction site machine. The system includes at least one total station or theodolite with a UWBST anchor-module having an anchor-ID, and a cooperative target associated with a UWBST tag-module having a tag-identifier (tag-ID) and being used for automatically controlling a machine operation of the construction site machine. The system can include a machine control unit associated with the construction site machine configured for controlling machine operations based on tracking and continuously measuring cooperative targets carried out by the total station or theodolite, and an ultra-wide band (UWB) distance meter associated with the UWBST anchor-module configured for measuring a distance (UWB-distance) between the UWBST anchor-module and the UWBST tag-module.Type: ApplicationFiled: March 14, 2020Publication date: September 17, 2020Applicant: LEICA GEOSYSTEMS AGInventors: Tommi Juhani KAUPPINEN, Damien DUSHA
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Patent number: 10704233Abstract: A method and system that compensates for kinematic accelerations influencing a sensor measurement of working equipment such as an excavator. The method and system identify members of the working equipment that are movable relative to each other (e.g. stick, boom, bucket) and define a co-ordinate frame for each movable member. A kinematic relationship, preferably a kinematic chain. The sensor measurement is then modified according to the kinematic relationships and the relative position of each identified member.Type: GrantFiled: April 13, 2016Date of Patent: July 7, 2020Assignee: LEICA GEOSYSTEMS AGInventor: Damien Dusha
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Patent number: 10698042Abstract: A system and method that compensates for local disturbances in magnetometer measurements for working equipment. For example, compensating for magnetometer disturbances caused by a stick, boom, and bucket of an excavator. The compensation is performed by generating or obtaining a magnetic model of movable members, determining the position of each of the movable members, calculating an estimated magnetic disturbance, and modifying the magnetometer measurement.Type: GrantFiled: April 13, 2016Date of Patent: June 30, 2020Assignee: LEICA GEOSYSTEMS AGInventor: Damien Dusha
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Publication number: 20190164361Abstract: A method for monitoring activities of a construction or mining vehicle. Signals from at least one acceleration sensor, accelerometer (2), and/or at least one angular rate sensor, gyro (4), are processed on a computing platform (3) which is programmed to determine the activity state of the vehicle based on signals received. A device arranged to perform the method may also comprise means (7) for storing or communicating the result of the determination of the computing platform (3).Type: ApplicationFiled: April 7, 2017Publication date: May 30, 2019Applicant: LEICA GEOSYSTEMS TECHNOLOGY ABInventors: Doug EGGERT, Guilherme OLIVEIRA, Damien DUSHA, Stuart GRAY
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Publication number: 20180298593Abstract: A method and system that compensates for kinematic accelerations influencing a sensor measurement of working equipment such as an excavator. The method and system identify members of the working equipment that are movable relative to each other (e.g. stick, boom, bucket) and define a co-ordinate frame for each movable member. A kinematic relationship, preferably a kinematic chain. The sensor measurement is then modified according to the kinematic relationships and the relative position of each identified member.Type: ApplicationFiled: April 13, 2016Publication date: October 18, 2018Applicant: LEICA GEOSYSTEMS AGInventor: Damien DUSHA
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Publication number: 20180299513Abstract: A system and method that compensates for local disturbances in magnetometer measurements for working equipment. For example, compensating for magnetometer disturbances caused by a stick, boom, and bucket of an excavator. The compensation is performed by generating or obtaining a magnetic model of movable members, determining the position of each of the movable members, calculating an estimated magnetic disturbance, and modifying the magnetometer measurement.Type: ApplicationFiled: April 13, 2016Publication date: October 18, 2018Applicant: LEICA GEOSYSTEMS AGInventor: Damien DUSHA
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Patent number: 9541392Abstract: Surveying system for measuring the position of a measuring point on the ground is disclosed. The surveying system may include a survey pole with a body having a pointer tip for contacting the measuring point and position giving means for making available the coordinative determination of a referenced position, being placed on the body with a defined spatial relationship relative to the tip. Determination means may be included for repeatedly determining the referenced position of the position giving means. Evaluation means may also be included for deriving the position of the measuring point. In some embodiments, the survey pole may also include an inertial measuring unit placed on the body with a defined spatial relationship relative to the position giving means.Type: GrantFiled: October 15, 2013Date of Patent: January 10, 2017Assignee: LEICA GEOSYSTEMS AGInventor: Damien Dusha
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Publication number: 20150268045Abstract: Surveying system for measuring the position of a measuring point on the ground is disclosed. The surveying system may include a survey pole with a body having a pointer tip for contacting the measuring point and position giving means for making available the coordinative determination of a referenced position, being placed on the body with a defined spatial relationship relative to the tip. Determination means may be included for repeatedly determining the referenced position of the position giving means. Evaluation means may also be included for deriving the position of the measuring point. In some embodiments, the survey pole may also include an inertial measuring unit placed on the body with a defined spatial relationship relative to the position giving means.Type: ApplicationFiled: October 15, 2013Publication date: September 24, 2015Inventor: Damien Dusha
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Patent number: 9008988Abstract: A method of calibrating inertial sensors of working equipment, such as a vehicle or survey equipment, includes determining whether the working equipment is in operation or not. Data is captured from inertial sensors and associated temperature sensors while the working equipment is out of operation. The captured data is used to update a thermal bias error model for the inertial sensors.Type: GrantFiled: October 21, 2010Date of Patent: April 14, 2015Assignee: Leica Geosystems AGInventor: Damien Dusha
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Patent number: 8600601Abstract: A positioning method that calculates a lower accuracy positioning solution and applies an offset to the lower accuracy positioning solution to form a final positioning solution if a higher accuracy positioning solution is unavailable. The offset represents a difference between the lower accuracy positioning solution and the higher accuracy positioning solution at a point in time when the higher accuracy positioning solution was last available.Type: GrantFiled: December 2, 2009Date of Patent: December 3, 2013Assignee: Leica Geosystems AGInventors: William James Kellar, Damien Dusha, Stuart Gray, Peter James Roberts
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Publication number: 20120203488Abstract: A method of calibrating inertial sensors of working equipment, such as a vehicle or survey equipment, includes determining whether the working equipment is in operation or not. Data is captured from inertial sensors and associated temperature sensors while the working equipment is out of operation. The captured data is used to update a thermal bias error model for the inertial sensors.Type: ApplicationFiled: October 21, 2010Publication date: August 9, 2012Applicant: LEICA GEOSYSTEMS AGInventor: Damien Dusha
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Publication number: 20110307138Abstract: A positioning method that calculates a lower accuracy positioning solution and applies an offset to the lower accuracy positioning solution to form a final positioning solution if a higher accuracy positioning solution is unavailable. The offset represents a difference between the lower accuracy positioning solution and the higher accuracy positioning solution at a point in time when the higher accuracy positioning solution was last available.Type: ApplicationFiled: December 2, 2009Publication date: December 15, 2011Applicant: LEICA GEOSYSTEMS AGInventors: William James Kellar, Damien Dusha, Stuart Gray, Peter James Roberts