WO2005084155A2 - Procede et appareil d'odometrie optique - Google Patents

Procede et appareil d'odometrie optique Download PDF

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Publication number
WO2005084155A2
WO2005084155A2 PCT/US2004/013849 US2004013849W WO2005084155A2 WO 2005084155 A2 WO2005084155 A2 WO 2005084155A2 US 2004013849 W US2004013849 W US 2004013849W WO 2005084155 A2 WO2005084155 A2 WO 2005084155A2
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WO
WIPO (PCT)
Prior art keywords
optical
image
information
optics
consumer
Prior art date
Application number
PCT/US2004/013849
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English (en)
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WO2005084155A3 (fr
Inventor
Kennety Sinclair
Jay Gainsboro
Pace Willison
Original Assignee
Weinstein, Lee
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US10/786,245 external-priority patent/US20040221790A1/en
Application filed by Weinstein, Lee filed Critical Weinstein, Lee
Publication of WO2005084155A2 publication Critical patent/WO2005084155A2/fr
Publication of WO2005084155A3 publication Critical patent/WO2005084155A3/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects

Definitions

  • the field of the invention relates to odometry, image processing, and optics, and more specifically to optical odometry.
  • the dictionary defines an odometer as an instrument for measuring distance, and gives as a common example an instrument attached to a vehicle for measuring the distance that the vehicle travels .
  • an odometer is a legally required instrument in all commercially sold vehicles.
  • the odometer may serve several useful functions .
  • the odometer reading allows the consumer to measure how "used" a car actually is.
  • a consumer may use a car odometer as a navigation aid when following a set of driving directions to get to a destination.
  • a consumer may use odometer readings as an aid in calculating tax-deductible vehicle expenses.
  • Typical passenger car odometers function by directly measuring the accumulated rotation of the vehicles wheels .
  • Such a direct-mechanical-contact method of odometry is reliable in applications where direct no- slip mechanical contact is reliably maintained between the vehicle (wheels, treads, etc.) and the ground.
  • odometry is more typically accomplished through means such as GPS position receivers .
  • wheel-rotation odometry is not necessarily an accurate measure of distance traveled (though it is certainly an adequate measure of wear on machinery) .
  • GPS odometry Some companies engaged in the design of new autonomous agricultural vehicles have attempted to use GPS odometry, and have found it not to be accurate enough for many applications. Even when high-precision differential GPS measurements are employed, the time latency between receiving the GPS signal and deriving critical information such as velocity can be too long to allow GPS odometry to be used in applications such as velocity-compensated spreading of fertilizer, herbicides, and pesticides in agricultural applications. In addition, occasional sporadic errors in derived GPS position could make the difference between an autonomous piece of farm equipment being just outside your window, or in your living room.
  • the present invention measures change and position by measuring movement of features in a repeatedly-electronically- captured optical image of the ground as seen from a moving vehicle.
  • a downward-looking electronic imager is mounted to a vehicle.
  • a baseline image is taken, and correlation techniques are used to compare the position of features in the field of view in subsequent images to the position of those features in the baseline image. Once the shift in image position becomes large enough, a new baseline image is taken, and the process continues.
  • an integrated optical navigation sensor (such as is used in an optical computer mouse) is fitted with optics to look at the ground below a moving vehicle.
  • the optics provide the optical navigation sensor with an appropriately scaled image of a portion of the surface over which the vehicle is traveling, where the image is sufficiently in- focus that the navigation sensor can discern movement of surface texture features to produce accurate incremental X and Y position change information. Whether natural or artificial illumination is used, it is preferable in most applications that the optics give minimal attenuation to the portion of the illumination spectrum to which the image sensor is most sensitive. [005]
  • the incremental X and Y position-change information from the navigation sensor is scaled and used as vehicle position change information. The system has no moving parts and is extremely mechanically rugged.
  • a small optical aperture is used and the optical measurement is made through a hole through which an outward airflow is maintained to prevent environmental dirt or moisture from coming in contact with the optics .
  • system optics are sealed in a housing and look out through a window which is automatically continuously cleaned (as in an embodiment with a rotating window with a stationary wiper) or periodically cleaned (as in an embodiment with a stationary window and a moving periodic wiper) .
  • a telecentric lens is used to desensitize the system to image-scaling-related calculation errors .
  • height measuring means 108 are provided to sense height variations during operation, and image scaling distortion is estimated on the fly by normalizing the scaling of image data based on sensed height over the imaged surface.
  • dynamic height adjusting means 109 is driven to maintain a constant output from height measuring means 108 so as to maintain imager 103 at a constant height above the surface being imaged, and thus maintain a constant image scale factor.
  • Height measuring means 108 may be optical or acoustic, or it may be electromechanical, or optomechanical.
  • FIG. 1A depicts a side view of a preferred embodiment of the present invention mounted on the front of a moving vehicle.
  • FIG. IB depicts a side view of a preferred embodiment of the present invention mounted underneath a moving vehicle.
  • FIG. 2 depicts a set of example pixel- pattern images acquired by the downward-looking electronic imager of the present invention.
  • FIG. 3A depicts a bottom view of a vehicle equipped with a two-imager embodiment of the present invention, enabling high-resolution measurement of vehicle orientation change as well as vehicle position change .
  • FIG. 3B depicts a set of example pixel- pattern images acquired by downward-looking imagers Cl and C2.
  • FIG. 3B depicts a set of example pixel- pattern images acquired by downward-looking imagers Cl and C2.
  • FIG. 4 depicts (for an an example acceleration and deceleration of a vehicle utilizing the present invention) the relationship between actual position, raw GPS readings, and the output of a Kalman filter used to reduce noise in raw GPS readings .
  • FIG. 5 depicts (for the same acceleration profile used in FIG. 4) the GPS position error of the output of the Kalman filter, the GPS velocity derived from the output of the Kalman filter, and the GPS velocity error.
  • FIG. 6 depicts a shopping cart equipped with the present invention.
  • FIG. 7 depicts the layout of a grocery store equipped to provide automated item location assistance and other features associated with the present invention.
  • FIG. 5 depicts (for an an example acceleration and deceleration of a vehicle utilizing the present invention) the relationship between actual position, raw GPS readings, and the output of a Kalman filter used to reduce noise in raw GPS readings .
  • FIG. 5 depicts (for the same acceleration profile used in FIG. 4) the GPS position error of the output of the Kalman filter, the GPS velocity derived from the
  • FIG. 8 depicts a comparison between the optical behavior of a telecentric lens and the optical behavior of a non-telecentric lens.
  • FIG. 9 is a schematic diagram of a preferred embodiment of an optical odometer utilizing one or more electronic image capture sensors.
  • FIG. 10 is a schematic diagram of a preferred embodiment of an optical odometer utilizing one or more integrated optical navigation sensors .
  • Figure 1A depicts a preferred embodiment of the imaging system of the present invention mounted on the front of the moving vehicle 100.
  • Electronic imager 103 is mounted inside protective housing 104, which is filled with pressurized air 105, which is supplied by filtered air pump 101.
  • Electronic imager 103 looks out of housing 102 through open window 106, and images field of view that is just beneath the front of moving vehicle V.
  • Electronic imager 103 may be a black & white video camera, color video camera, CMOS still image camera, CCD still image camera, integrated optical navigation sensor, or any other form of imager that converts an optical image into an electronic representation.
  • Sequentially acquired images are stored in computer memory. Data derived from sequentially acquired images is stored in computer memory.
  • computer memory shall be construed to mean any and all forms of data storage associated with digital computing, including but not limited to solid-state memory (such as random-access memory) , magnetic memory (such as hard disk memory) , optical memory (such as optical disk memory) , etc .
  • solid-state memory such as random-access memory
  • magnetic memory such as hard disk memory
  • optical memory such as optical disk memory
  • Fig. IB depicts the preferred embodiment the present invention where electronic imager 103 looks out from beneath moving vehicle 100 at field of view 107, and field of view 107 is lit by lighting source 108, which is projected at an angle of approximately 45 degrees with respect to the vertical.
  • Figure 2 depicts three high-contrast pixel images acquired sequentially in time from electronic imager 103.
  • each pixel in the image is either black or white.
  • Five black pixels are shown in image A, which is taken as the original baseline image.
  • image B the pattern of 5 black pixels originally seen in image A is seen shifted to the right by three pixels and up by one pixel indicating corresponding motion of the vehicle in two dimensions.
  • three new black pixels have moved into the field of view in image B.
  • image C two of the original black pixels from image A are no longer in the field of view, all of the black pixels from image B are still present, and three new black pixels have come into the field of view.
  • image A is taken as an original baseline position measurement.
  • Relative position is calculated at the time of acquiring image B, by comparing pixel pattern movement between image A and image B.
  • Many intermediate images may be taken and processed between image A and image B, and the relative motion in all of these intermediate images will be digitally calculated (by means such as a microprocessor, digital signal processor, digital application-specific integrated circuit, or the like) with respect to image A.
  • image B is used as the new baseline image, and relative motion between image B and image C is measured using image B is a baseline image.
  • a number of images taken subsequent to the establishment of one baseline image and prior to the establishment of the next baseline image are stored, and a selection algorithm selects from among these stored images which image to used as the new baseline image.
  • the present invention may be used to perform odometry on autonomous agricultural machinery, aiding in automated navigation of that machinery.
  • position information from the present invention is combined with GPS position information, resulting in high accuracy in both long-distance and short-distance measurements.
  • the present invention is used to provide extreme high accuracy two- dimensional short distance odometry on a passenger car.
  • the present invention enables accurate sensing of skid conditions and loss of traction on any wheel.
  • a solid-state video camera is used to acquire the sequential images shown in figure 1.
  • the contrast of images shown in figure 1 is 100% (pixels are either black or white)
  • a grayscale image may also be used.
  • the change in darkness of adjacent pixels from one image to the next may be used to estimate motion at a sub-pixel level .
  • FIG. 9 is a schematic diagram of a preferred embodiment of an optical odometer according to the present invention.
  • Optics 907 is positioned to image portion 909 of a surface onto image sensor 903.
  • the potion of the surface imaged varies as the position of the optical odometer varies parallel to the surface.
  • Electronically captured images from image sensor 903 are converted to digital image representations by analog-to- digital converter (A/D) 900.
  • A/D analog-to- digital converter
  • Data from sequentially captured images is processed in conjunction with timing information from clock oscillator 906 by digital processor 901 in conjunction with memory 905, to produce position and velocity information to be provided through data interface 902.
  • clock oscillator 906 may be any electronic or electromechanical or electro-acoustic oscillator who's frequency of oscillation is stable enough that any inaccuracy it contributes to the system is acceptable.
  • clock oscillator 906 is a quartz-crystal- based oscillator, but any electronic, electromechanical, electro-acoustic oscillator or the like with sufficient accuracy can be used.
  • additional image sensor 904 and optics 908 may be provided to image additional portion 910 of the surface over which the optical odometer is traveling.
  • height sensors 911 and 912 are added to either allow calculating means 901 to compensate for image-scale-variation-induced errors in software, or to electromechanically adjust sensor heights dynamically to maintain the desired constant image scale factor.
  • an integrated optical navigation sensor 1000 In an alternate preferred embodiment shown in Fig. 10, an integrated optical navigation sensor 1000
  • a second integrated optical navigation sensor 1001 imaging a second portion of the surface over which the optical moves may be added.
  • optics 907 and 908 may be made substantially telecentric, and/or electromechanical height actuators 1002 and 1003 may be driven based on height measurement feedback from height sensors 912 and 911 (respectively) to maintain integrated optical navigation sensors 1001 and 1000 (respectively) and optics 908 and 907 (respectively) at consistent heights above the imaged surface to maintain the desired image scale factors at the integrated optical navigation sensors .
  • Digital processor 901 serves as distance calculating means and orientation calculating means in the above embodiments, and may be implemented as a microprocessor, a computer, a digital signal processing
  • FIG. 3 depicts a vehicle equipped with a two-imager embodiment of the present invention, enabling high-resolution measurement of vehicle orientation change as well as vehicle position change.
  • electronic imagers Cl and C2 are spaced far apart about the center of vehicle V, each imager downward-facing with a view of the ground over which vehicle 100 is traveling ; Accurate two-dimensional position change information at imager Cl may be combined with accurate two-dimensional position change information at imager C2 to derive two-dimensional position and orientation change information about moving vehicle V.
  • orientation change information could be obtained from sequential changes in the image from either imager alone
  • use of two imagers allows highly accurate rotational information to be derived using imagers with relatively small fields of view. Treating movement of the images from each imager as (to a first approximation) consisting of only linear motion, and then deriving rotation from the linear motion sensed at each imager, a second (higher accuracy) linear motion measurement can be made at each imager once the first-order rotation rate has been estimated and can be compensated for.
  • the sequential images Cl Image 1 and Cl Image 2 taken from imager Cl, and the sequential images C2 Image 1 and C2 Image 2 taken from imager C2 indicate that vehicle 100 is moving forward and turning to the right, because the rate of movement of the image seen by the right imager (C2) is slower than the rate of movement seen by the left imager (Cl) .
  • Orientation change information may be useful for applications including autonomous navigation of autonomous agricultural equipment, automated multi- wheel independent traction control on passenger cars (to automatically prevent vehicle rotation during emergency braking) , etc .
  • tread-slip prevention and/or warning systems on treaded vehicles such as bulldozers, snowmobiles, etc.
  • traction optimization systems on railway locomotives position measurement in mineshafts, weight-independent position measurements for shaft- enclosed or tunnel-enclosed cable lifts and elevators
  • race car position monitoring in race-track races where an optical fiducial mark such as a stripe across the track can be used to regain absolute accuracy once per lap
  • race car sideways creep as an indicator of impending skid conditions navigation of autonomous construction vehicles and autonomous military vehicles, odometry and speed measurement and path recording for skiers, odometry and speed measurement and remote position tracking for runners in road races, automated movement of an autonomous print-head to print on a large surface (such as the a billboard, or the side of a building (for example for robotically painting murals), or a wall in a house (for example for automatically painting on wall-paper-like patterns)), replacement for grit-wheel technology for accurately
  • the present invention can also be used for automated underwater two-dimensional position tracking for scuba divers, and automated navigation and automated underwater mapping and photography in shallow areas (for instance to automatically keep tabs on reef conditions over a large geographic area where a lot of sport diving takes place) .
  • a preferred embodiment of the present invention used in a robotic apparatus for automatically painting advertising graphics on outdoor billboards further comprises automatic sensing of the color of the surface being painted on, so that only paint dots of the color and size needed to turn that color into the desired color (when viewed from a distance) would be added, thus conserving time, paint, and money.
  • a small-aperture optics system (such as the system previously described which looks out through a small hole in an air-pressurized chamber) is used.
  • an optical system employing a telecentric lens is employed.
  • the optical behavior of a telecentric lens is compared with the optical behavior of a non- telecentric lens in figure 8.
  • Figure 8 illustrates optical ray tracing through a non-telecentric lens 801 with optical ray tracing through a telecentric lens group comprising lens 803 and lens 804.
  • optical odometry is combined with GPS position sensing.
  • position profile 400 depicts an ideal accurate plot of position versus time for a piece of farm equipment moving in a straight line, first undergoing acceleration, then deceleration, then acceleration again.
  • Profile 401 depicts the raw GPS position readings taken over this span of time from a GPS receiver mounted on the moving equipment.
  • Profile 402 depicts the output of a Kalman filter designed to best remove the noise from the GPS position signal.
  • profile 400 depicts the actual time vs. position of a farm vehicle along an axis of motion, as the machine accelerates, decelerates, and accelerates again.
  • Profile 401 represents the noisy, slightly delayed "raw" output from a GPS receiver mounted on the moving vehicle.
  • Profile 402 depicts a Kalman filtered version of profile 401.
  • profile 500 depicts the actual real-time velocity vs. time for the position-time profile 400.
  • Profile 501 depicts the GPS position velocity error (at the Kalman filtered output)
  • profile 502 depicts the GPS velocity error.
  • the combined position error and the combined velocity error may be reduced to negligible values .
  • a delay in the feedback path of a control system can be thought of as limiting the bandwidth of the control system.
  • GPS systems such as differential GPS may be used to provide absolute position information to within a finite bounded accuracy, given enough time. In the frequency domain, this can be thought of as position information that is usable down to DC, but is not usable for the needed spatial accuracy above some certain frequency.
  • Since an optical odometer is inherently a differential measurement device, it accumulates error over distance.
  • an optical odometer accumulates error without bound.
  • an optical odometer can be thought of as providing information of sufficient accuracy above a certain frequency, and not below that frequency.
  • information from an optical odometer (sufficiently accurate above a given frequency) is combined with information from a GPS receiver (sufficiently accurate below a given frequency), to provide position information which is sufficiently accurate absolute position information across all frequencies of interest.
  • Position and velocity errors in the outputs of GPS systems during acceleration and deceleration can lead to poor control of chemical deposition, and may lead to unacceptable chemical concentrations being applied.
  • Another aspect of precision farming where the present invention has great utility is automatic steering. It is desirable in a number of applications in farming to drive machines in a line as straight as possible. Straighter driving can facilitate (for instance) tighter packing of crop rows, more efficient harvesting, etc. Due to unevenness of terrain and spatial variations in soil properties, maintaining a straight course can take more steering in agricultural situations than on a paved surface. In addition, the abruptness of some changes in conditions can call for fast response if tight tolerances are to be maintained.
  • Typical response delays for human beings are in tenths of a second, whereas automated steering systems designed using the present invention can offer much higher bandwidth.
  • the present invention may be used to maintain equipment on a straighter course than would be possible under unassisted human control, and a straighter course than would be possible under currently available GPS control .
  • optical odometry is used in conjunction with optically encoded fiducial marks to provide position tracking and navigation guidance in a product storage area such as a warehouse or a supermarket.
  • optical stripe fiducials may be detected by processing the brightness output from the integrated optical navigation sensor chips.
  • fiducials may be used to periodically regain absolute position accuracy.
  • fiducials may be optical (such as optically coded patterns on surfaces, which may be sensed by the same image sensors used for optical odometry) , or they may be light beams, RF tags, electric or magnetic fields, etc., which are sensed by additional hardware.
  • Figure 6 depicts a supermarket shopping cart used in a preferred embodiment for use within a retail store.
  • Optical odometer unit 601 is affixed to one of the lower rails of shopping cart 600, such that the optics of optical odometer unit 601 images part of the floor beneath shopping cart 600.
  • Electrical contact strips 602 on the inside and outside of both lower shopping cart rails connect shopping carts in parallel for recharging when shopping carts are stacked in their typical storage configuration.
  • power is generated from shopping cart wheel motion to power all the electronics carried on the cart, so no periodic recharging connection is required.
  • Scanner/microphone wand 604 serves a dual purpose of scanning bar codes (such as on customer loyalty cards and/or product UPC codes) and receiving voice input (such as "where is milk?") .
  • Display 603 provides visual navigation information (such as store map with the shopper's present position, and position of a needed item) and text information (such as price information, or textual navigation information such as "go forward to the end of the isle, then right three isles, right again, and go 10 feet down the isle, third shelf up"), and may also provide this information in audio form.
  • the word "displaying” as used in the claims of this document shall include presenting information in visual and/or audio form, and a "display” as referred to in the claims of this document shall include not only visual displays capable of displaying text and/or graphics, but also audio transducers such as speakers or headphones, capable of displaying information in audio form.
  • Keyboard 605 serves as an alternate query method for asking for location or price information on a product.
  • Wireless data transceiver 606 communicates with a hub data transceiver in the supermarket, and may comprise wireless Ethernet transceiver or the like. It is contemplated that the present invention can be used equally well in any product storage area, including not only retail stores, but warehouses, parts storage facilities, etc.
  • Figure 7 depicts a floor layout of a supermarket in an embodiment of the present invention, including entrance door, 700, exit door 701, and office and administrative area 702.
  • Optically encoded fiducial patterns 705 encode reference positions along the "Y" axis in the store
  • optically encoded fiducial patterns 706 encode reference positions along the "X" axis in the store.
  • Diagonal fiducial pattern 707 provides initial orientation information when a shopping cart first enters the store, and as soon as the shopping cart crosses the first "X" fiducial, X position is known from the X fiducial and Y position is known from the known path traveled from the crossing of diagonal fiducial 707, and the unique distance, between diagonal 707 and the first X fiducial for any given Y where the diagonal was first crossed.
  • optical odometry maintains accuracy of about 1% of distance traveled between crossing fiducial marks, and position accuracy in the X and Y directions are reset each time X and Y fiducial marks are crossed, respectively.
  • Information about product position on shelves 709 and isles 704 is maintained in central computer system 708.
  • the orientation of the shopping cart is taken into account automatically to estimate the position of the consumer who is pushing the cart, and all navigation aids are given relative to the estimated position of the consumer, not the position of the optical odometer on the cart.
  • the assumed position of the consumer would move several feet. This allows automated guiding of a consumer to be within a foot of standing in front of the product he or she is seeking .
  • automated product identification equipment such as UPC barcode scanners, RFID tag sensors, etc.
  • barcode scanner wand 604 may be used by the consumer to simply scan the barcode of a coupon, and display 603 will automatically display information guiding the consumer to the product to which the coupon applies.
  • barcode wand 604 or display 603 or keyboard 605 may also incorporate an IR receiver unit to allow consumers to download a shopping list from a PDA, and path optimization may automatically be provided to the consumer to minimize the distance traveled through the store (and thus minimize time spent) to purchase all the desired items .
  • advice is also made available through display unit 603, in response to queries such as "dry white wine" .
  • Bounded absolute accuracy may be obtained by combining fiducial marks with optical odometry for increased absolute position and distance accuracy.
  • One method of recognizing fiducial marks comprises including contrast patterns (such as stripes) in the field of view of the optical odometry imaging system at known locations, such that the fiducials are sensed as part of optical odometer image capture process .
  • Another method of recognizing fiducial marks comprises recognizing fiducial features with a separate image recognition video system, and combining with optical odometry.
  • Another method of recognizing fiducial marks comprises recognizing fiducial reference light beams and combining with optical odometry.
  • Other fiducial recognition systems include recognizing one or two dimensional bar codes, electric field sensing or magnetic field sensing which encode absolute position information.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Position Input By Displaying (AREA)

Abstract

L'invention concerne des procédés et un appareil d'odométrie optique permettant la navigation à l'estime bidimensionnelle sans contact dans des applications notamment de robotique intérieure autonome, de suivi de véhicules dans des installations sécurisées, telles que les aéroports, et de suivi de chariot de marché dans des grandes surfaces. L'invention concerne des procédés et un appareil permettant également des mesures de vitesse et de position sans contact, ce qui facilite des applications telles que la commande de freinage antiblocage et de traction d'équipement agricole et de construction. Dans un mode de réalisation préféré, un capteur de navigation optique intégré tel que celui utilisé dans une souris d'ordinateur optique, est employé conjointement avec objectif télécentrique.
PCT/US2004/013849 2004-02-24 2004-05-03 Procede et appareil d'odometrie optique WO2005084155A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US10/786,245 US20040221790A1 (en) 2003-05-02 2004-02-24 Method and apparatus for optical odometry
US10/786,245 2004-02-24
US46772904P 2004-05-02 2004-05-02
US60/467,729 2004-05-02

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WO2005084155A3 WO2005084155A3 (fr) 2007-08-16

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US20210090002A1 (en) * 2015-10-12 2021-03-25 Alcon Inc. Intraocular lens storage cart and methods

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US20180037246A1 (en) * 2005-03-18 2018-02-08 Gatekeeper Systems, Inc. Navigation systems and methods for wheeled objects
US10227082B2 (en) 2005-03-18 2019-03-12 Gatekeeper Systems, Inc. Power generation systems and methods for wheeled objects
US10730541B2 (en) * 2005-03-18 2020-08-04 Gatekeeper Systems, Inc. Navigation systems and methods for wheeled objects
US20200391780A1 (en) * 2005-03-18 2020-12-17 Gatekeeper Systems, Inc. Navigation systems and methods for wheeled objects
US11718336B2 (en) 2005-03-18 2023-08-08 Gatekeeper Systems, Inc. Navigation systems and methods for wheeled objects
US20210090002A1 (en) * 2015-10-12 2021-03-25 Alcon Inc. Intraocular lens storage cart and methods
US11580483B2 (en) * 2015-10-12 2023-02-14 Alcon Inc. Intraocular lens storage cart and methods
EP3187953A1 (fr) * 2015-12-30 2017-07-05 Honda Research Institute Europe GmbH Machine de travail autonome telle qu'une tondeuse à gazon autonome
US10321625B2 (en) 2015-12-30 2019-06-18 Honda Research Institute Europe Gmbh Autonomous working machine such as autonomous lawn mower

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