Patent•
Vehicle position determination system and method
18 Feb 1993-
TL;DR: In this article, the first and second position estimates are combined and filtered using novel techniques to derive a more accurate third position estimate of the vehicle's position, which can be used for autonomous navigation.
Abstract: Systems and methods allow for the accurate determination of the terrestrial position of an autonomous vehicle in real time. A first position estimate of the vehicle 102 is derived from satellites of a global positioning system and/or a pseudolite(s). The pseudolite(s) may be used exclusively when the satellites are not in the view of the vehicle. A second position estimate is derived from an inertial reference unit and/or a vehicle odometer. The first and second position estimates are combined and filtered using novel techniques to derive a more accurate third position estimate of the vehicle's position. Accordingly, accurate autonomous navigation of the vehicle can be effectuated using the third position estimate.
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Patent•
29 Aug 2006
TL;DR: In this paper, a set top box for interacting with broadband media streams, with an adaptive user interface, content-based media processing and/or media metadata processing, and telecommunications integration, is presented.
Abstract: An intelligent electronic appliance preferably includes a user interface, data input and/or output port, and an intelligent processor. A preferred embodiment comprises a set top box for interacting with broadband media streams, with an adaptive user interface, content-based media processing and/or media metadata processing, and telecommunications integration. An adaptive user interface models the user, by observation, feedback, and/or explicit input, and presents a user interface and/or executes functions based on the user model. A content-based media processing system analyzes media content, for example audio and video, to understand the content, for example to generate content-descriptive metadata. A media metadata processing system operates on locally or remotely generated metadata to process the media in accordance with the metadata, which may be, for example, an electronic program guide, MPEG 7 data, and/or automatically generated format. A set top box preferably includes digital trick play effects, and incorporated digital rights management features.
2,644 citations
Patent•
06 Jun 1995
TL;DR: An adaptive interface for a programmable system, for predicting a desired user function, based on user history, as well as machine internal status and context, is presented for confirmation by the user, and the predictive mechanism is updated based on this feedback as mentioned in this paper.
Abstract: An adaptive interface for a programmable system, for predicting a desired user function, based on user history, as well as machine internal status and context. The apparatus receives an input from the user and other data. A predicted input is presented for confirmation by the user, and the predictive mechanism is updated based on this feedback. Also provided is a pattern recognition system for a multimedia device, wherein a user input is matched to a video stream on a conceptual basis, allowing inexact programming of a multimedia device. The system analyzes a data stream for correspondence with a data pattern for processing and storage. The data stream is subjected to adaptive pattern recognition to extract features of interest to provide a highly compressed representation which may be efficiently processed to determine correspondence. Applications of the interface and system include a VCR, medical device, vehicle control system, audio device, environmental control system, securities trading terminal, and smart house. The system optionally includes an actuator for effecting the environment of operation, allowing closed-loop feedback operation and automated learning.
1,976 citations
Patent•
01 Feb 1999
TL;DR: An adaptive interface for a programmable system, for predicting a desired user function, based on user history, as well as machine internal status and context, is presented for confirmation by the user, and the predictive mechanism is updated based on this feedback as mentioned in this paper.
Abstract: An adaptive interface for a programmable system, for predicting a desired user function, based on user history, as well as machine internal status and context. The apparatus receives an input from the user and other data. A predicted input is presented for confirmation by the user, and the predictive mechanism is updated based on this feedback. Also provided is a pattern recognition system for a multimedia device, wherein a user input is matched to a video stream on a conceptual basis, allowing inexact programming of a multimedia device. The system analyzes a data stream for correspondence with a data pattern for processing and storage. The data stream is subjected to adaptive pattern recognition to extract features of interest to provide a highly compressed representation that may be efficiently processed to determine correspondence. Applications of the interface and system include a video cassette recorder (VCR), medical device, vehicle control system, audio device, environmental control system, securities trading terminal, and smart house. The system optionally includes an actuator for effecting the environment of operation, allowing closed-loop feedback operation and automated learning.
1,182 citations
Patent•
02 Aug 2001
TL;DR: In this article, an automotive auto-pilot mode is provided, which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom.
Abstract: GPS satellite (4) ranging signals (6) received (32) on comm1, and DGPS auxiliary range correction signals and pseudolite carrier phase ambiguity resolution signals (8) from a fixed known earth base station (10) received (34) on comm2, at one of a plurality of vehicles/aircraft/automobiles (2) are computer processed (36) to continuously determine the one's kinematic tracking position on a pathway (14) with centimeter accuracy. That GPS-based position is communicated with selected other status information to each other one of the plurality of vehicles (2), to the one station (10), and/or to one of a plurality of control centers (16), and the one vehicle receives therefrom each of the others' status information and kinematic tracking position. Objects (22) are detected from all directions (300) by multiple supplemental mechanisms, e.g., video (54), radar/lidar (56), laser and optical scanners. Data and information are computer processed and analyzed (50,52,200,452) in neural networks (132, FIGS. 6-8) in the one vehicle to identify, rank, and evaluate collision hazards/objects, an expert operating response to which is determined in a fuzzy logic associative memory (484) which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom. The operator is warned by a heads up display and other modes and may override. An automotive auto-pilot mode is provided.
1,134 citations
Patent•
11 Mar 2010
TL;DR: In this paper, the authors proposed a system for preventing vehicle accidents in which GPS ranging signals relating to a host vehicle's position on a roadway on a surface of the earth are received on a first communication link from a network of satellites and DGPS auxiliary range correction signals for correcting propagation delay errors in the GPS ranging signal from a station or satellite.
Abstract: System and method for preventing vehicle accidents in which GPS ranging signals relating to a host vehicle's position on a roadway on a surface of the earth are received on a first communication link from a network of satellites and DGPS auxiliary range correction signals for correcting propagation delay errors in the GPS ranging signals are received on a second communication link from a station or satellite. The host vehicle's position on a roadway on a surface of the earth is determined from the GPS, DGPS, and accurate map database signals with centimeter accuracy and communicated to other vehicles. The host vehicle receives position information from other vehicles and determines whether any other vehicle from which position information is received represents a collision threat to the host vehicle based on the position of the other vehicle relative to the roadway and the host vehicle. If so, a warning or vehicle control signal response to control the host vehicle's motion is generated to prevent a collision with the other vehicle.
1,020 citations
References
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TL;DR: There is a natural uncertainty principle between detection and localization performance, which are the two main goals, and with this principle a single operator shape is derived which is optimal at any scale.
Abstract: This paper describes a computational approach to edge detection. The success of the approach depends on the definition of a comprehensive set of goals for the computation of edge points. These goals must be precise enough to delimit the desired behavior of the detector while making minimal assumptions about the form of the solution. We define detection and localization criteria for a class of edges, and present mathematical forms for these criteria as functionals on the operator impulse response. A third criterion is then added to ensure that the detector has only one response to a single edge. We use the criteria in numerical optimization to derive detectors for several common image features, including step edges. On specializing the analysis to step edges, we find that there is a natural uncertainty principle between detection and localization performance, which are the two main goals. With this principle we derive a single operator shape which is optimal at any scale. The optimal detector has a simple approximate implementation in which edges are marked at maxima in gradient magnitude of a Gaussian-smoothed image. We extend this simple detector using operators of several widths to cope with different signal-to-noise ratios in the image. We present a general method, called feature synthesis, for the fine-to-coarse integration of information from operators at different scales. Finally we show that step edge detector performance improves considerably as the operator point spread function is extended along the edge.
28,073 citations
3,862 citations
TL;DR: A collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects that transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object.
Abstract: This paper describes a collision avoidance algorithm for planning a safe path for a polyhedral object moving among known polyhedral objects. The algorithm transforms the obstacles so that they represent the locus of forbidden positions for an arbitrary reference point on the moving object. A trajectory of this reference point which avoids all forbidden regions is free of collisions. Trajectories are found by searching a network which indicates, for each vertex in the transformed obstacles, which other vertices can be reached safely.
2,396 citations
01 Jan 1991
TL;DR: A real-time obstacle avoidance method for mobile robots which has been developed and implemented, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target.
Abstract: A real-time obstacle avoidance method for mobile robots which has been developed and implemented is described. This method, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses a two-dimensional Cartesian histogram grid as a world model. This world model is updated continuously with range data sampled by onboard range sensors. The VFH method subsequently uses a two-stage data-reduction process to compute the desired control commands for the vehicle. Experimental results from a mobile robot traversing densely cluttered obstacle courses in smooth and continuous motion and at an average speed of 0.6-0.7 m/s are shown. A comparison of the VFN method to earlier methods is given. >
2,352 citations
TL;DR: In this article, the authors present a technique which adopts the idea of "inverse problem" and extends the results of "resolved-motion-rate" controls, which deals directly with the position and orientation of the hand.
Abstract: Position control of a manipulator involves the practical problem of solving for the correct input torques to apply to the joints for a set of specified positions, velocities, and accelerations. Since the manipulator is a nonlinear system whose joints are highly coupled, it is very difficult to control. This paper presents a technique which adopts the idea of "inverse problem" and extends the results of "resolved-motion-rate" controls. The method deals directly with the position and orientation of the hand. It differs from others in that accelerations are specified and that all the feedback control is done at the hand level. The control algorithm is shown to be asymptotically convergent. A PDP 11/45 computer is used as part of a controller which computes the input torques/forces at each sampling period for the control system using the Newton-Euler formulation of equations of motion. The program is written in floating point assembly language, and has an average execution time of less than 11.5 ms for a Stanford manipulator. This makes a sampling frequency of 87 Hz possible. The controller is verified by an example which includes a simulated manipulator.
1,231 citations