USING SENSOR-BASED OBSERVATIONS OF AGENTS IN AN ENVIRONMENT TO ESTIMATE THE POSE OF AN OBJECT IN THE ENVIRONMENT AND TO ESTIMATE AN UNCERTAINTY MEASURE FOR THE POSE
First Claim
1. A computer-implemented method, comprising:
- receiving a plurality of observations from a plurality of agents in an environment, each of the observations generated based on sensor data from one or more sensors of a corresponding agent of the agents and including;
an observation time, a source identifier of the corresponding agent, an observed object identifier of a corresponding observed object of multiple objects of the environment, a measured object pose for the corresponding observed object, and an observation uncertainty measure for the measured object pose;
identifying a group of the observations for a target time based on the observation times of the observations of the group satisfying a threshold relative to the target time;
generating, based on the group of observations, a multigraph having a plurality of nodes and edges connecting the nodes, the generating comprising defining a reference frame node of the nodes, defining object nodes of the nodes that are based on the observed object identifiers of the group, and generating the edges connecting the nodes based on the observed object identifiers, the source identifiers, and the measured object poses and observation uncertainty measures of the group;
generating a composite pose and composite uncertainty measure for each of a plurality of simple paths along the edges that connect the reference frame node and a given object node of the object nodes, wherein the composite pose and the composite uncertainty measure for each of the simple paths is based on the measured object pose and the observation uncertainty measure for each of the edges of the simple path;
generating, based on the composite poses and the composite uncertainty measures, a pose and an uncertainty measure for the object identifier on which the given object node is based; and
assigning the pose and the uncertainty measure to the object identifier on which the given object node is based.
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Accused Products
Abstract
Methods, apparatus, systems, and computer-readable media are provided for using sensor-based observations from multiple agents (e.g., mobile robots and/or fixed sensors) in an environment to estimate the pose of an object in the environment at a target time and to estimate an uncertainty measure for that pose. Various implementations generate a multigraph based on a group of observations from multiple agents, where the multigraph includes a reference frame node, object nodes, and a plurality edges connecting the nodes. In some implementations, a composite pose and composite uncertainty measure are generated for each of a plurality of simple paths along the edges of the multigraph that connect the reference frame node to a given object node—and a pose and uncertainty measure for an object identifier associated with the given object node is generated based on the composite poses and the composite uncertainty measures.
24 Citations
20 Claims
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1. A computer-implemented method, comprising:
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receiving a plurality of observations from a plurality of agents in an environment, each of the observations generated based on sensor data from one or more sensors of a corresponding agent of the agents and including; an observation time, a source identifier of the corresponding agent, an observed object identifier of a corresponding observed object of multiple objects of the environment, a measured object pose for the corresponding observed object, and an observation uncertainty measure for the measured object pose; identifying a group of the observations for a target time based on the observation times of the observations of the group satisfying a threshold relative to the target time; generating, based on the group of observations, a multigraph having a plurality of nodes and edges connecting the nodes, the generating comprising defining a reference frame node of the nodes, defining object nodes of the nodes that are based on the observed object identifiers of the group, and generating the edges connecting the nodes based on the observed object identifiers, the source identifiers, and the measured object poses and observation uncertainty measures of the group; generating a composite pose and composite uncertainty measure for each of a plurality of simple paths along the edges that connect the reference frame node and a given object node of the object nodes, wherein the composite pose and the composite uncertainty measure for each of the simple paths is based on the measured object pose and the observation uncertainty measure for each of the edges of the simple path; generating, based on the composite poses and the composite uncertainty measures, a pose and an uncertainty measure for the object identifier on which the given object node is based; and assigning the pose and the uncertainty measure to the object identifier on which the given object node is based. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system comprising:
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a pose and uncertainty system comprising one or more computing systems; a plurality of agents in an environment providing sensor-based observations to the pose and uncertainty system over a period of time, wherein each of the observations is generated based on sensor data from one or more sensors of a corresponding agent of the agents and includes; an observation time, a source identifier of the corresponding agent, an observed object identifier of a corresponding observed object of multiple objects of the environment, a measured object pose for the corresponding observed object, and an observation uncertainty measure for the measured object pose; wherein the pose and uncertainty system comprises instructions that, when executed by the one or more computing systems, cause the computing systems to; identify a group of the observations for a target time based on the observation times of the observations of the group satisfying a threshold relative to the target time; generate, based on the group of observations, a multigraph having a plurality of nodes and edges connecting the nodes, the generating comprising defining a reference frame node of the nodes, defining object nodes of the nodes that are based on the observed object identifiers of the group, and generating the edges connecting the nodes based on the observed object identifiers, the source identifiers, and the measured object poses and observation uncertainty measures of the group; generate a composite pose and composite uncertainty measure for each of a plurality of simple paths along the edges that connect the reference frame node and a given object node of the object nodes, wherein the composite pose and the composite uncertainty measure for each of the simple paths is based on the measured object pose and the observation uncertainty measure for each of the edges of the simple path; generate, based on the composite poses and the composite uncertainty measures, a pose and an uncertainty measure for the object identifier on which the given object node is based; and assign the pose and the uncertainty measure to the object identifier on which the given object node is based. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. At least one non-transitory computer-readable medium comprising instructions that, in response to execution of the instructions by one or more processors, cause the one or more processors to perform the following operations:
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receiving a plurality of observations from a plurality of agents in an environment, each of the observations generated based on sensor data from one or more sensors of a corresponding agent of the agents and including; an observation time, a source identifier of the corresponding agent, an observed object identifier of a corresponding observed object of multiple objects of the environment, a measured object pose for the corresponding observed object, and an observation uncertainty measure for the measured object pose; identifying a group of the observations for a target time based on the observation times of the observations of the group satisfying a threshold relative to the target time; generating, based on the group of observations, a multigraph having a plurality of nodes and edges connecting the nodes, the generating comprising defining a reference frame node of the nodes, defining object nodes of the nodes that are based on the observed object identifiers of the group, and generating the edges connecting the nodes based on the observed object identifiers, the source identifiers, and the measured object poses and observation uncertainty measures of the group; generating a composite pose and composite uncertainty measure for each of a plurality of simple paths along the edges that connect the reference frame node and the given object node, wherein the composite pose and the composite uncertainty measure for each of the simple paths is based on the measured object pose and the observation uncertainty measure for each of the edges of the simple path; generating, based on the composite poses and the composite uncertainty measures, a pose and an uncertainty measure for the object identifier on which the given object node is based; and assigning the pose and the uncertainty measure to the object identifier on which the given object node is based.
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Specification