Patents by Inventor Ethan Eade
Ethan Eade 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: 9404756Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.Type: GrantFiled: November 17, 2015Date of Patent: August 2, 2016Assignee: iRobot CorporationInventors: Philip Fong, Ethan Eade, Mario E. Munich
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Patent number: 9361732Abstract: Various embodiments relating to controlling a see-through display are disclosed. In one embodiment, virtual objects may be displayed on the see-through display. The virtual objects transition between having a position that is body-locked and a position that is world-locked based on various transition events.Type: GrantFiled: May 1, 2014Date of Patent: June 7, 2016Assignee: MICROSOFT TECHNOLOGY LICENSING, LLCInventors: Michael John Ebstyne, Frederik Schaffalitzky, Stephen Latta, Paul Albert Lalonde, Drew Steedly, Alex Kipman, Ethan Eade
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Publication number: 20160154408Abstract: 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. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.Type: ApplicationFiled: February 3, 2016Publication date: June 2, 2016Inventors: Ethan Eade, Mario E. Munich, Philip Fong
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Patent number: 9304003Abstract: A computing device includes a location sensor system including sensor(s) configured to measure one or more parameters of a surrounding environment, a pose-tracking engine configured to determine a current pose of the computing device based on the one or more measured parameters of the surrounding environment, a graphing engine configured to access a traversability graph including a plurality of vertices each having a local coordinate system, a navigation engine configured to identify a nearby vertex of the traversability graph to the current pose, and configured to determine a path of traversable edges between the nearby vertex and a destination vertex of the traversability graph, and a display configured to visually present as an overlay to the environment a navigation visualization corresponding to the path.Type: GrantFiled: March 18, 2015Date of Patent: April 5, 2016Assignee: MICROSOFT TECHNOLOGY LICENSING, LLCInventors: Matthew Sammis Ashman, Ethan Eade, Arthur Tomlin, Tony Ambrus
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Publication number: 20160075032Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.Type: ApplicationFiled: November 23, 2015Publication date: March 17, 2016Inventors: Dhiraj Goel, Ethan Eade, Philip Fong, Mario E. Munich
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Patent number: 9286810Abstract: 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. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.Type: GrantFiled: September 23, 2011Date of Patent: March 15, 2016Assignee: iRobot CorporationInventors: Ethan Eade, Mario E. Munich, Philip Fong
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Publication number: 20160069691Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.Type: ApplicationFiled: November 17, 2015Publication date: March 10, 2016Inventors: Philip Fong, Ethan Eade, Mario E. Munich
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Patent number: 9223312Abstract: Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.Type: GrantFiled: June 7, 2013Date of Patent: December 29, 2015Assignee: iRobot CorporationInventors: Dhiraj Goel, Ethan Eade, Philip Fong, Mario E. Munich
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Patent number: 9218003Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.Type: GrantFiled: June 17, 2014Date of Patent: December 22, 2015Assignee: iRobot CorporationInventors: Philip Fong, Ethan Eade, Mario E. Munich
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Publication number: 20150317831Abstract: Various embodiments relating to controlling a see-through display are disclosed. In one embodiment, virtual objects may be displayed on the see-through display. The virtual objects transition between having a position that is body-locked and a position that is world-locked based on various transition events.Type: ApplicationFiled: May 1, 2014Publication date: November 5, 2015Inventors: Michael John Ebstyne, Frederik Schaffalitzky, Stephen Latta, Paul Albert Lalonde, Drew Steedly, Alex Kipman, Ethan Eade
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Publication number: 20150316767Abstract: Embodiments related to mapping an environment of a machine-vision system are disclosed. For example, one disclosed method includes acquiring image data resolving one or more reference features of an environment and computing a parameter value based on the image data, wherein the parameter value is responsive to physical deformation of the machine-vision system.Type: ApplicationFiled: May 1, 2014Publication date: November 5, 2015Inventors: Michael John Ebstyne, Frederik Schaffalitzky, Drew Steedly, Georg Klein, Ethan Eade, Michael Grabner
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Publication number: 20150317832Abstract: Embodiments that relate to communicating to a user of a head-mounted display device an estimated quality level of a world-lock display mode are disclosed. For example, in one disclosed embodiment a sensor data is received from one or more sensors of the device. Using the sensor data, an estimated pose of the device is determined. Using the estimated pose, one or more virtual objects are displayed via the device in either the world-lock display mode or in a body-lock display mode. One or more of input uncertainty values of the sensor data and pose uncertainty values of the estimated pose are determined. The input uncertainty values and/or pose uncertainty values are mapped to the estimated quality level of the world-lock display mode. Feedback of the estimated quality level is communicated to a user via device.Type: ApplicationFiled: May 1, 2014Publication date: November 5, 2015Inventors: Michael John Ebstyne, Frederik Schaffalitzky, Drew Steedly, Ethan Eade, Martin Shetter, Michael Grabner
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Publication number: 20150317833Abstract: An augmented reality device including a plurality of sensors configured to output pose information indicating a pose of the augmented reality device. The augmented reality device further includes a band-agnostic filter and a band-specific filter. The band-specific filter includes an error correction algorithm configured to receive pose information as filtered by the band-agnostic filter and reduce a tracking error of the pose information in a selected frequency band. The augmented reality device further includes a display engine configured to position a virtual object on a see-through display as a function of the pose information as filtered by the band-agnostic filter and the band-specific filter.Type: ApplicationFiled: May 1, 2014Publication date: November 5, 2015Inventors: Michael John Ebstyne, Frederik Schaffalitzky, Drew Steedly, Calvin Chan, Ethan Eade, Alex Kipman, Georg Klein
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Publication number: 20150261223Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.Type: ApplicationFiled: June 17, 2014Publication date: September 17, 2015Inventors: Philip Fong, Ethan Eade, Mario E. Munich
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Publication number: 20150228118Abstract: Embodiments are disclosed that relate to determining a pose of a device. One disclosed embodiment provides a method comprising receiving sensor information from one or more sensors of the device, and selecting a motion-family model from a plurality of different motion-family models based on the sensor information. The method further comprises providing the sensor information to the selected motion-family model and outputting an estimated pose of the device according to the selected motion-family model.Type: ApplicationFiled: February 12, 2014Publication date: August 13, 2015Inventors: Ethan Eade, Michael John Ebstyne, Frederick Schaffalitzky, Drew Steedly
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Publication number: 20150197011Abstract: A robot having a signal sensor configured to measure a signal, a motion sensor configured to measure a relative change in pose, a local correlation component configured to correlate the signal with the position and/or orientation of the robot in a local region including the robot's current position, and a localization component configured to apply a filter to estimate the position and optionally the orientation of the robot based at least on a location reported by the motion sensor, a signal detected by the signal sensor, and the signal predicted by the local correlation component. The local correlation component and/or the localization component may take into account rotational variability of the signal sensor and other parameters related to time and pose dependent variability in how the signal and motion sensor perform. Each estimated pose may be used to formulate new or updated navigational or operational instructions for the robot.Type: ApplicationFiled: January 5, 2015Publication date: July 16, 2015Inventors: Steffen Gutmann, Ethan Eade, Philip Fong, Mario Munich
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Patent number: 8930023Abstract: A robot having a signal sensor configured to measure a signal, a motion sensor configured to measure a relative change in pose, a local correlation component configured to correlate the signal with the position and/or orientation of the robot in a local region including the robot's current position, and a localization component configured to apply a filter to estimate the position and optionally the orientation of the robot based at least on a location reported by the motion sensor, a signal detected by the signal sensor, and the signal predicted by the local correlation component. The local correlation component and/or the localization component may take into account rotational variability of the signal sensor and other parameters related to time and pose dependent variability in how the signal and motion sensor perform. Each estimated pose may be used to formulate new or updated navigational or operational instructions for the robot.Type: GrantFiled: November 5, 2010Date of Patent: January 6, 2015Assignee: iRobot CorporationInventors: Steffen Gutmann, Ethan Eade, Philip Fong, Mario Munich
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Publication number: 20140357290Abstract: A source wireless fingerprint is associated with a source image. One or more eligible cataloged wireless fingerprints having a threshold similarity to the source wireless fingerprint are found. Similarly, one or more eligible cataloged images having a threshold similarity to the source image are found. A current location of a device that acquires the source wireless fingerprint and source image is inferred as a chosen cataloged location of a chosen eligible cataloged wireless fingerprint and a chosen eligible cataloged image.Type: ApplicationFiled: May 31, 2013Publication date: December 4, 2014Inventors: Michael Grabner, Ethan Eade, David Nister
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Patent number: 8798840Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.Type: GrantFiled: October 1, 2012Date of Patent: August 5, 2014Assignee: Irobot CorporationInventors: Philip Fong, Ethan Eade, Mario E. Munich
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Publication number: 20140005933Abstract: A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.Type: ApplicationFiled: October 1, 2012Publication date: January 2, 2014Inventors: Philip Fong, Ethan Eade, Mario E. Munich