Patents by Inventor Vadim INDELMAN
Vadim INDELMAN 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: 11935284Abstract: Methods and systems are provided for fusing responses of a classifier that provides a model uncertainty measure, while accounting for viewpoint-dependent variations in object appearance and correlations in classifier responses, and accounting for localization uncertainty.Type: GrantFiled: August 8, 2019Date of Patent: March 19, 2024Inventors: Yuri Feldman, Vadim Indelman
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Patent number: 11513533Abstract: Methods and systems are provided for belief space planning for multiple robots at an initial belief state, for reducing belief space uncertainty, including receiving multiple, candidate, multi-robot paths, each including one or more pose constraints; generating a candidate factor graph for each candidate multi-robot path, and generating from each candidate factor graph a topology graph; calculating a signature metric from each topology graph, wherein the signature metric is one of a Von Neumann (VN) metric and a spanning tree (ST) metric; selecting a multi-robot path having the greatest signature metric from among the candidate, multi-robot paths; and instructing the multiple robots to proceed according to the selected multi-robot path.Type: GrantFiled: February 24, 2020Date of Patent: November 29, 2022Assignee: TECHNION RESEARCH & DEVELOPMENT FOUNDATION LIMITEDInventors: Andrej Kitanov, Vadim Indelman
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Patent number: 11416702Abstract: A system and methods are provided for decision making under uncertainty, for selecting an optimal action from among multiple candidate actions in belief space planning (BSP), including, for a new propagated belief: selecting from stored propagated beliefs a closest propagated belief; selecting, from among the stored measurement samples associated with the closest propagated belief, re-use measurement samples that provide a representative set of a measurement likelihood distribution corresponding to the new propagated belief; determining an information gap between a stored posterior belief associated with a re-use measurement sample and a new posterior belief that would be inferred by applying the re-use measurement sample to the new propagated belief; updating the stored posterior belief to account for the information gap; and calculating objective values for the multiple candidate actions, the objective values being weighted summations including immediate scores of the updated posterior beliefs.Type: GrantFiled: April 10, 2020Date of Patent: August 16, 2022Assignee: Technion Research & Development Foundation LimitedInventors: Elad Farhi, Vadim Indelman
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Publication number: 20210312248Abstract: Methods and systems are provided for classifying an object appearing in multiple sequential images.Type: ApplicationFiled: August 8, 2019Publication date: October 7, 2021Inventors: Vladimir TCHUIEV, Vadim INDELMAN
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Publication number: 20210312246Abstract: Methods and systems are provided for fusing responses of a classifier that provides a model uncertainty measure, while accounting for viewpoint-dependent variations in object appearance and correlations in classifier responses, and accounting for localization uncertainty.Type: ApplicationFiled: August 8, 2019Publication date: October 7, 2021Inventors: Yuri FELDMAN, Vadim INDELMAN
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Patent number: 10970872Abstract: A method for estimating a plurality of camera, comprising using at least one processor executing a code for: extracting a plurality of image features of a plurality of landmarks from a plurality of images captured by at least one camera from at least one pose, the plurality of landmarks calibrated with respect to a certain coordinate system; identifying among the plurality of image features at least one image feature documented in at least some of the images; producing scale values of at least one common image feature by analyzing the at least some of the images; determining a plurality of estimated poses of the at least one camera with respect to the certain coordinate system by using the scale values in calculating a minimal re-projection error between the plurality of image features and a plurality of predicted image features; and outputting the plurality of estimated poses.Type: GrantFiled: January 20, 2020Date of Patent: April 6, 2021Assignee: Tectmion Research & Development Foundation LimitedInventor: Vadim Indelman
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Patent number: 10940587Abstract: Methods and systems are provided for controlling a robot to navigate a perceptually aliased environment, the robot being configured to infer a first Gaussian mixture model (GMM) of a first pose of the robot, and to plan an optimal control action by: determining a second GMM of a simulated pose of the robot by simulating applying the first control action to the first GMM; determining from the second GMM a range of possible observations; calculating scene probabilities for associating each possible observation with each aliased scene of a set of aliased scenes; calculating from the scene probabilities an objective function to determine an estimated cost of the first control action; and comparing the estimated cost of the first control action with estimated costs calculated for one or more additional control actions, to determine an optimal control action.Type: GrantFiled: April 30, 2018Date of Patent: March 9, 2021Assignee: Technion Research & Development Foundation Ltd.Inventors: Antony Thomas, Shashank Pathak, Vadim Indelman
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Publication number: 20210046953Abstract: An autonomous system comprising: at least one hardware processor; a sensors module; and a non-transitory computer-readable storage medium having stored thereon program instructions, the program instructions executable by the at least one hardware processor to: receive, from said sensors module, a set of measurements associated with a joint state of said autonomous system, infer, based, at least in part, on said set of measurements, a current belief regarding said joint state of said autonomous system, determine a control action based on said inference, wherein said determining comprises calculating a future belief regarding a future joint state of said autonomous system, wherein said future joint state is as a result of said control action, execute said control action, and generate a new inference based, at least in part, on said future belief, wherein said future belief is updated based on a new set of measurements from said sensors module.Type: ApplicationFiled: March 6, 2019Publication date: February 18, 2021Inventors: Vadim INDELMAN, Elad FARHI
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Publication number: 20200327358Abstract: A system and methods are provided for decision making under uncertainty, for selecting an optimal action from among multiple candidate actions in belief space planning (BSP), including, for a new propagated belief: selecting from stored propagated beliefs a closest propagated belief; selecting, from among the stored measurement samples associated with the closest propagated belief, re-use measurement samples that provide a representative set of a measurement likelihood distribution corresponding to the new propagated belief; determining an information gap between a stored posterior belief associated with a re-use measurement sample and a new posterior belief that would be inferred by applying the re-use measurement sample to the new propagated belief; updating the stored posterior belief to account for the information gap; and calculating objective values for the multiple candidate actions, the objective values being weighted summations including immediate scores of the updated posterior beliefs.Type: ApplicationFiled: April 10, 2020Publication date: October 15, 2020Inventors: Elad FARHI, Vadim INDELMAN
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Publication number: 20200272171Abstract: Methods and systems are provided for belief space planning for multiple robots at an initial belief state, for reducing belief space uncertainty, including receiving multiple, candidate, multi-robot paths, each including one or more pose constraints; generating a candidate factor graph for each candidate multi-robot path, and generating from each candidate factor graph a topology graph; calculating a signature metric from each topology graph, wherein the signature metric is one of a Von Neumann (VN) metric and a spanning tree (ST) metric; selecting a multi-robot path having the greatest signature metric from among the candidate, multi-robot paths; and instructing the multiple robots to proceed according to the selected multi-robot path.Type: ApplicationFiled: February 24, 2020Publication date: August 27, 2020Inventors: Andrej KITANOV, Vadim INDELMAN
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Publication number: 20200151904Abstract: A method for estimating a plurality of camera, comprising using at least one processor executing a code for: extracting a plurality of image features of a plurality of landmarks from a plurality of images captured by at least one camera from at least one pose, the plurality of landmarks calibrated with respect to a certain coordinate system; identifying among the plurality of image features at least one image feature documented in at least some of the images; producing scale values of at least one common image feature by analyzing the at least some of the images; determining a plurality of estimated poses of the at least one camera with respect to the certain coordinate system by using the scale values in calculating a minimal re-projection error between the plurality of image features and a plurality of predicted image features; and outputting the plurality of estimated poses.Type: ApplicationFiled: January 20, 2020Publication date: May 14, 2020Applicant: Technion Research & Development Foundation LimitedInventor: Vadim INDELMAN
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Patent number: 10546385Abstract: A method for estimating a plurality of camera, comprising using at least one processor executing a code for: extracting a plurality of image features of a plurality of landmarks from a plurality of images captured by at least one camera from at least one pose, the plurality of landmarks calibrated with respect to a certain coordinate system; identifying among the plurality of image features at least one image feature documented in at least some of the images; producing scale values of at least one common image feature by analyzing the at least some of the images; determining a plurality of estimated poses of the at least one camera with respect to the certain coordinate system by using the scale values in calculating a minimal re-projection error between the plurality of image features and a plurality of predicted image features; and outputting the plurality of estimated poses.Type: GrantFiled: February 23, 2017Date of Patent: January 28, 2020Assignee: Technion Research & Development Foundation LimitedInventor: Vadim Indelman
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Publication number: 20180311819Abstract: Methods and systems are provided for controlling a robot to navigate a perceptually aliased environment, the robot being configured to infer a first Gaussian mixture model (GMM) of a first pose of the robot, and to plan an optimal control action by: determining a second GMM of a simulated pose of the robot by simulating applying the first control action to the first GMM; determining from the second GMM a range of possible observations; calculating scene probabilities for associating each possible observation with each aliased scene of a set of aliased scenes; calculating from the scene probabilities an objective function to determine an estimated cost of the first control action; and comparing the estimated cost of the first control action with estimated costs calculated for one or more additional control actions, to determine an optimal control action.Type: ApplicationFiled: April 30, 2018Publication date: November 1, 2018Inventors: Antony THOMAS, Shashank PATHAK, Vadim INDELMAN
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Publication number: 20170249751Abstract: A method for estimating a plurality of camera, comprising using at least one processor executing a code for: extracting a plurality of image features of a plurality of landmarks from a plurality of images captured by at least one camera from at least one pose, the plurality of landmarks calibrated with respect to a certain coordinate system; identifying among the plurality of image features at least one image feature documented in at least some of the images; producing scale values of at least one common image feature by analyzing the at least some of the images; determining a plurality of estimated poses of the at least one camera with respect to the certain coordinate system by using the scale values in calculating a minimal re-projection error between the plurality of image features and a plurality of predicted image features; and outputting the plurality of estimated poses.Type: ApplicationFiled: February 23, 2017Publication date: August 31, 2017Inventor: Vadim INDELMAN