Abstract: A scale estimating method through metric reconstruction of objects using a smart device is disclosed, in which the smart device is equipped with a camera for image capture and an inertial measurement unit (IMU). The scale estimating method is adapting a batch, vision-centric approach only using IMU to estimate the metric scale of a scene reconstructed by algorithm with Structure from Motion like (SfM) output. Monocular vision and noisy IMU can be integrated with the disclosed scale estimating method, in which a 3D structure of an object of interest up to an ambiguity in scale and reference frame can be resolved. Gravity data and a real-time heuristic algorithm for determining sufficiency of video data collection are utilized for improving upon scale estimation accuracy so as to be independent of device and operating system. Application of the scale estimation includes determining pupil distance and 3D reconstruction using video images.

Abstract: A scale estimating method through metric reconstruction of objects using a smart device is disclosed, in which the smart device is equipped with a camera for image capture and an inertial measurement unit (IMU). The scale estimating method is adapting a batch, vision-centric approach only using IMU to estimate the metric scale of a scene reconstructed by algorithm with Structure from Motion like (SfM) output. Monocular vision and noisy IMU can be integrated with the disclosed scale estimating method, in which a 3D structure of an object of interest up to an ambiguity in scale and reference frame can be resolved. Gravity data and a real-time heuristic algorithm for determining sufficiency of video data collection are utilized for improving upon scale estimation accuracy so as to be independent of device and operating system. Application of the scale estimation includes determining pupil distance and 3D reconstruction using video images.

Abstract: A hierarchical control system (203) for supervising operations of an autonomous operator located within a defined geographical region containing a localized zone having an operation-defined boundary. The control system (203) has a primary controller (604) associated with the defined geographical region and a secondary controller (605) associated with the localized zone. The secondary controller (605) is responsive to the supervisory control of the primary controller (604). The autonomous operator, if located within the localized zone, is responsive to the supervisory control of the secondary controller (605).

Abstract: Forming a sequence plan for a machine to travel to a series of specified locations is described. An initial cost table (414) and a pattern of locations (412) is inputted to a Sequential Ordering Problem (SOP) solver (402). The resulting sequence (410) is processed by a motion planner (404) to derive by a motion planning procedure a plan of machine motions through the sequence. A cost table update (408) is performed based on the motion plan, which is then used for another iteration of the SOP solver (402).

Abstract: A method is described of regulating movement of an autonomous entity between a first zone (904) and a second zone (901), wherein the first and second zones each have an operation-defined geographical boundary within a defined geographical region. The autonomous entity is instructed to move into a transition zone (906, 907) that spans the first zone and the second zone, wherein the autonomous entity while located in the first zone is responsive to supervisory control of a first controller (912) associated with the first zone. The autonomous entity is registered with a second controller (910) associated with the second zone to enable the autonomous entity to respond to supervisory control of the second controller as the autonomous entity enters the second zone through the transition zone. The autonomous entity is de-registered from the first controller.

Abstract: An autonomous navigation system for a tracked or skid-steer vehicle is described. The system includes a path planner (54) that computes a series of waypoint locations specifying a path to follow and vehicle location sensors (82). A tramming controller (60) includes a waypoint controller (62) that computes vehicle speed and yaw rate setpoints based on vehicle location information from the vehicle location sensor and the locations of a plurality of neighboring waypoints, and a rate controller (64) that generates left and right track speed setpoints from the speed and yaw rate setpoints. A vehicle control interface actuates the vehicle controls in accordance with the left and right track speed setpoints.

Abstract: An autonomous navigation system for a tracked or skid-steer vehicle is described. The system includes a path planner (54) that computes a series of waypoint locations specifying a path to follow and vehicle location sensors (82). A tramming controller (60) includes a waypoint controller (62) that computes vehicle speed and yaw rate setpoints based on vehicle location information from the vehicle location sensor and the locations of a plurality of neighbouring waypoints, and a rate controller (64) that generates left and right track speed setpoints from the speed and yaw rate setpoints. A vehicle control interface actuates the vehicle controls in accordance with the left and right track speed setpoints.

Abstract: A method is described of regulating movement of an autonomous entity between a first zone (904) and a second zone (901), wherein the first and second zones each have an operation-defined geographical boundary within a defined geographical region. The autonomous entity is instructed to move into a transition zone (906, 907) that spans the first zone and the second zone, wherein the autonomous entity while located in the first zone is responsive to supervisory control of a first controller (912) associated with the first zone. The autonomous entity is registered with a second controller (910) associated with the second zone to enable the autonomous entity to respond to supervisory control of the second controller as the autonomous entity enters the second zone through the transition zone. The autonomous entity is de-registered from the first controller.

Abstract: A hierarchical control system (203) for supervising operations of an autonomous operator located within a defined geographical region containing a localised zone having an operation-defined boundary. The control system (203) has a primary controller (604) associated with the defined geographical region and a secondary controller (605) associated with the localised zone. The secondary controller (605) is responsive to the supervisory control of the primary controller (604). The autonomous operator, if located within the localised zone, is responsive to the supervisory control of the secondary controller (605).

Abstract: Forming a sequence plan for a machine to travel to a series of specified locations is described. An initial cost table (414) and a pattern of locations (412) is inputted to a Sequential Ordering Problem (SOP) solver (402). The resulting sequence (410) is processed by a motion planner (404) to derive by a motion planning procedure a plan of machine motions through the sequence. A cost table update (408) is performed based on the motion plan, which is then used for another iteration of the SOP solver (402).