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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Применить Всего найдено 26. Отображено 26.
24-03-2020 дата публикации

Object detection based on Lidar intensity

Номер: US0010598791B2
Автор: Shantanu Jain, Gehua Yang, JAIN SHANTANU, YANG GEHUA, Jain, Shantanu, Yang, Gehua
Принадлежит: UATC, LLC, UATC LLC

Aspects of the present disclosure involve systems, methods, and devices for determining reflectance properties of objects based on Lidar intensity values, A system includes one or more processors of a machine and a machine-storage medium storing instructions that, when executed by the one or more processors, cause the machine to perform operations comprising accessing an incoming data point output by a Lidar unit during operation of a vehicle. The operations may further include inferring, using a reflectance inference model, a reflectance value of an object based on the incoming data point. The reflectance inference model comprises a mapping of previously collected data points to a coordinate system using associated range values and raw intensity values. The operations may further include determining one or more characteristics of the object based on the inferred reflectance value.

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Номер записи: 1
19-11-2019 дата публикации

Navigation of tubular networks

Номер: US0010482599B2
Автор: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart, MINTZ DAVID S, GHOREYSHI ATIYEH, JEEVAN PRASANTH, XU YILIANG, YANG GEHUA, LEOTTA MATTHEW JOSEPH, STEWART CHARLES V, Mintz, David S., Ghoreyshi, Atiyeh, Jeevan, Prasanth, Xu, Yiliang, Yang, Gehua, Leotta, Matthew Joseph, Stewart, Charles V.
Принадлежит: Auris Health, Inc., AURIS HEALTH INC

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

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Номер записи: 2
02-08-2022 дата публикации

Navigation of tubular networks

Номер: US0011403759B2
Автор: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart
Принадлежит: Auris Health, Inc.

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

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Номер записи: 3
08-08-2017 дата публикации

Navigation of tubular networks

Номер: US0009727963B2
Автор: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart, MINTZ DAVID S, GHOREYSHI ATIYEH, JEEVAN PRASANTH, XU YILIANG, YANG GEHUA, LEOTTA MATTHEW JOSEPH, STEWART CHARLES V, Mintz David S., Ghoreyshi Atiyeh, Jeevan Prasanth, Xu Yiliang, Yang Gehua, Leotta Matthew Joseph, Stewart Charles V.
Принадлежит: Auris Surgical Robotics, Inc., AURIS SURGICAL ROBOTICS INC

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

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Номер записи: 4
21-12-2017 дата публикации

NAVIGATION OF TUBULAR NETWORKS

Номер: US20170365055A1
Автор: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart
Принадлежит:

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state. 122-. (canceled)23. A system comprising:a set of one or more processors; and access a first set of sensor data regarding physical manipulation of an elongated medical instrument inserted into a tubular network of a patient, the first set of sensor data being derived from at least a first set of one or more sensors located at a proximal portion of the of the elongated medical instrument;', 'access a second set of sensor data regarding the positioning of the medical elongated medical instrument, the second set of sensor data being derived from at least a second set of one or more sensors located within the elongated medical instrument, the second set of sensors being different from the first set of sensors;', 'determine a first estimated state regarding the physical manipulation of the elongated medical instrument based on the first set of sensor data;', 'determine a second estimate state regarding the physical manipulation of the elongated medical instrument based on the second set of sensor data; and', 'determine an estimated state of the elongated medical instrument based on the first estimated state and the second estimated state., 'a computer readable-medium that includes ...

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Номер записи: 5
15-09-2020 дата публикации

Calibration for an autonomous vehicle LIDAR module

Номер: US0010775488B2
Автор: David McAllister Bradley, Gehua Yang, BRADLEY DAVID MCALLISTER, YANG GEHUA, Bradley, David McAllister, Yang, Gehua
Принадлежит: UATC, LLC, UATC LLC

A LIDAR calibration module can detect a set of return signals from a plurality of fiducial targets for a set of laser scanners of an autonomous vehicle's LIDAR module. The autonomous vehicle can rest on an inclined platform of a rotating turntable to increase range variation in the return signals. Based on the set of return signals, the LIDAR calibration system can generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.

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Номер записи: 6
01-01-2019 дата публикации

Navigation of tubular networks

Номер: US0010169875B2
Автор: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart, MINTZ DAVID S, GHOREYSHI ATIYEH, JEEVAN PRASANTH, XU YILIANG, YANG GEHUA, LEOTTA MATTHEW JOSEPH, STEWART CHARLES V, Mintz, David S., Ghoreyshi, Atiyeh, Jeevan, Prasanth, Xu, Yiliang, Yang, Gehua, Leotta, Matthew Joseph, Stewart, Charles V.
Принадлежит: Auris Health, Inc., AURIS HEALTH INC

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

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Номер записи: 7
06-10-2020 дата публикации

Navigation of tubular networks

Номер: US0010796432B2
Автор: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart, MINTZ DAVID S, GHOREYSHI ATIYEH, JEEVAN PRASANTH, XU YILIANG, YANG GEHUA, LEOTTA MATTHEW JOSEPH, STEWART CHARLES V, Mintz, David S., Ghoreyshi, Atiyeh, Jeevan, Prasanth, Xu, Yiliang, Yang, Gehua, Leotta, Matthew Joseph, Stewart, Charles V.
Принадлежит: Auris Health, Inc., AURIS HEALTH INC

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

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Номер записи: 8
06-02-2020 дата публикации

OBJECT DETECTION BASED ON LIDAR INTENSITY

Номер: US20200041652A1
Автор: Shantanu Jain, Gehua Yang, JAIN SHANTANU, YANG GEHUA, Jain, Shantanu, Yang, Gehua
Принадлежит: Uatc LLC

Aspects of the present disclosure involve systems, methods, and devices for determining reflectance properties of objects based on Lidar intensity values. A system includes one or more processors of a machine and a machine-storage medium storing instructions that, when executed by the one or more processors, cause the machine to perform operations comprising accessing an incoming data point output by a Lidar unit during operation of a vehicle. The operations may further include inferring, using a reflectance inference model, a reflectance value of an object based on the incoming data point. The reflectance inference model comprises a mapping of previously collected data points to a coordinate system using associated range values and raw intensity values. The operations may further include determining one or more characteristics of the object based on the inferred reflectance value.

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Номер записи: 9
25-07-2019 дата публикации

NAVIGATION OF TUBULAR NETWORKS

Номер: US20190228525A1
Автор: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart, MINTZ DAVID S, GHOREYSHI ATIYEH, JEEVAN PRASANTH, XU YILIANG, YANG GEHUA, LEOTTA MATTHEW JOSEPH, STEWART CHARLES V, Mintz, David S., Ghoreyshi, Atiyeh, Jeevan, Prasanth, Xu, Yiliang, Yang, Gehua, Leotta, Matthew Joseph, Stewart, Charles V.
Принадлежит:

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state. 122-. (canceled)23. A surgical robotic system comprising:an endoscopic tool having a flexible tip;an optical sensor coupled to the flexible tip; receive a plurality of images from the optical sensor;', 'identify, within an image of the plurality of images, a division of the tubular network, the division comprising a plurality of openings to a plurality of respective segments of the tubular network;', 'determine a first estimated state of the flexible tip within the tubular network based on the identified division of the tubular network; and', 'show, on a display, an estimated position of the flexible tip within a segment of the plurality of segments of the luminal network, wherein the estimated position is determined based on the first estimated state., 'a processor coupled to the optical sensor, the processor configured with instructions to24. The system of claim 23 , wherein the processor is configured to identify the division with the image by detecting the plurality of openings within the image.25. The system of claim 24 , wherein processor is configured to detect the plurality of openings based on light reflective intensity within the image.26. The system of claim 24 , wherein ...

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Номер записи: 10
14-10-2021 дата публикации

LIDAR INTENSITY CALIBRATION

Номер: US20210318419A1
Автор: Gehua Yang, Michael K. Sergi-Curfman
Принадлежит:

Aspects of the present disclosure involve a vehicle computer system comprising a computer-readable storage medium storing a set of instructions, and a method for light detection and ranging (Lidar) intensity calibration. The method includes collecting a data set comprising a plurality of raw intensity values output by a channel of a Lidar unit at a particular power level from among multiple power levels at which the channel is capable of operating. The method further includes using a linear model to compute a calibration multiplier and a bias value for the particular power level of the channel. During operation of the vehicle, calibrated intensity values are determined by applying the linear model to subsequent raw intensity values output by the channel at the particular power using the determined calibration multiplier and bias value.

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Номер записи: 11
25-07-2019 дата публикации

NAVIGATION OF TUBULAR NETWORKS

Номер: US20190228528A1
Автор: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart, MINTZ DAVID S, GHOREYSHI ATIYEH, JEEVAN PRASANTH, XU YILIANG, YANG GEHUA, LEOTTA MATTHEW JOSEPH, STEWART CHARLES V, Mintz, David S., Ghoreyshi, Atiyeh, Jeevan, Prasanth, Xu, Yiliang, Yang, Gehua, Leotta, Matthew Joseph, Stewart, Charles V.
Принадлежит:

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state. 122-. (canceled)23. A robotic medical system for bronchoscopy , the system comprising:a robotic arm comprising a plurality of segments, the robotic arm extending from a base;a robotically-controllable bronchoscope removably coupled to the robotic arm, the bronchoscope configured for insertion into a bronchial network of a patient, wherein a distal end of the bronchoscope is articulable; anda command console comprising a command module configured to allow an operator to remotely control the bronchoscope, wherein the command module is configured to allow the operator to remotely articulate the distal end bronchoscope, and wherein the command module comprises a trackball;a display; display a model of the bronchial network;', 'access a selected target location in the bronchial network;', 'access a determined path from an entry point to the target location;', 'receive input data related to a position of the bronchoscope from a plurality of data sources;', 'determine the position of the bronchoscope within the bronchial network based on the input data from one or more of the plurality of data sources;', 'display the determined position of the bronchoscope relative to the displayed model ...

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Номер записи: 12
18-06-2009 дата публикации

Method and apparatus for viewing panoramic images

Номер: US20090153586A1
Автор: Gehua Yang, Charles Stewart
Принадлежит:

A method and apparatus for viewing panoramic images comprising a panorama viewer which further comprises at least two layers with each layer corresponding to a point of time within an interval during which a set of images are taken. Each layer is constructed by taking into account only the images taken at the point of time. A time dimension control is included to allow a user to navigate through the panorama based on relative time of occurrence.

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Номер записи: 13
18-08-2020 дата публикации

Calibration for an autonomous vehicle LIDAR module

Номер: US0010746858B2
Автор: David McAllister Bradley, Gehua Yang, BRADLEY DAVID MCALLISTER, YANG GEHUA, Bradley, David McAllister, Yang, Gehua
Принадлежит: UATC, LLC, UATC LLC

A LIDAR calibration system can detect a first set of return signals from a plurality of fiducial targets in a calibration facility for a lower set of laser scanners of the LIDAR module. The LIDAR calibration system can also detect a second set of return signals from one or more planar surfaces associated with a calibration trigger location on a road network for an upper set of laser scanners of the LIDAR module. Based on the first and second sets of return signals, the LIDAR calibration system can generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module.

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Номер записи: 14
18-02-2021 дата публикации

NAVIGATION OF TUBULAR NETWORKS

Номер: US20210049762A1
Автор: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart, MINTZ DAVID S, GHOREYSHI ATIYEH, JEEVAN PRASANTH, XU YILIANG, YANG GEHUA, LEOTTA MATTHEW JOSEPH, STEWART CHARLES V, Mintz, David S., Ghoreyshi, Atiyeh, Jeevan, Prasanth, Xu, Yiliang, Yang, Gehua, Leotta, Matthew Joseph, Stewart, Charles V.
Принадлежит: Auris Health Inc, Kitware Inc

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

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Номер записи: 15
11-07-2019 дата публикации

LIDAR INTENSITY CALIBRATION

Номер: US20190212422A1
Автор: Gehua Yang, Michael K. Sergi-Curfman, YANG GEHUA, SERGI-CURFMAN MICHAEL K, Yang, Gehua, Sergi-Curfman, Michael K.
Принадлежит: Uatc LLC

Aspects of the present disclosure involve a vehicle computer system comprising a computer-readable storage medium storing a set of instructions, and a method for light detection and ranging (Lidar) intensity calibration. The method includes collecting a data set comprising a plurality of raw intensity values output by a channel of a Lidar unit at a particular power level from among multiple power levels at which the channel is capable of operating. The method further includes using a linear model to compute a calibration multiplier and a bias value for the particular power level of the channel. During operation of the vehicle, calibrated intensity values are determined by applying the linear model to subsequent raw intensity values output by the channel at the particular power using the determined calibration multiplier and bias value.

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Номер записи: 16
15-08-2023 дата публикации

Lidar intensity calibration

Номер: US0011726191B2
Автор: Gehua Yang, Michael K. Sergi-Curfman
Принадлежит: UATC, LLC

Aspects of the present disclosure involve a vehicle computer system comprising a computer-readable storage medium storing a set of instructions, and a method for light detection and ranging (Lidar) intensity calibration. The method includes collecting a data set comprising a plurality of raw intensity values output by a channel of a Lidar unit at a particular power level from among multiple power levels at which the channel is capable of operating. The method further includes using a linear model to compute a calibration multiplier and a bias value for the particular power level of the channel. During operation of the vehicle, calibrated intensity values are determined by applying the linear model to subsequent raw intensity values output by the channel at the particular power using the determined calibration multiplier and bias value.

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Номер записи: 17
20-07-2021 дата публикации

Lidar intensity calibration

Номер: US0011067676B2
Автор: Gehua Yang, Michael K. Sergi-Curfman, YANG GEHUA, SERGI-CURFMAN MICHAEL K, Yang, Gehua, Sergi-Curfman, Michael K.
Принадлежит: UATC, LLC, UATC LLC

Aspects of the present disclosure involve a vehicle computer system comprising a computer-readable storage medium storing a set of instructions, and a method for light detection and ranging (Lidar) intensity calibration. The method includes collecting a data set comprising a plurality of raw intensity values output by a channel of a Lidar unit at a particular power level from among multiple power levels at which the channel is capable of operating. The method further includes using a linear model to compute a calibration multiplier and a bias value for the particular power level of the channel. During operation of the vehicle, calibrated intensity values are determined by applying the linear model to subsequent raw intensity values output by the channel at the particular power using the determined calibration multiplier and bias value.

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Номер записи: 18
21-02-2019 дата публикации

CALIBRATION FOR AN AUTONOMOUS VEHICLE LIDAR MODULE

Номер: US20190056484A1
Автор: David McAllister Bradley, Gehua Yang, BRADLEY DAVID MCALLISTER, YANG GEHUA, Bradley, David McAllister, Yang, Gehua
Принадлежит:

A LIDAR calibration system can detect a first set of return signals from a plurality of fiducial targets in a calibration facility for a lower set of laser scanners of the LIDAR module. The LIDAR calibration system can also detect a second set of return signals from one or more planar surfaces associated with a calibration trigger location on a road network for an upper set of laser scanners of the LIDAR module. Based on the first and second sets of return signals, the LIDAR calibration system can generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module. 1. A light-detection and ranging (LIDAR) calibration system for an autonomous vehicle , the LIDAR calibration system comprising:one or more processors; and for a lower set of laser scanners of a LIDAR module, detect a first set of return signals from a plurality of fiducial targets in a calibration facility, the lower set of laser scanners each having an elevation angle below a threshold elevation angle;', 'for an upper set of laser scanners of the LIDAR module, detect a second set of return signals from one or more planar surfaces associated with a calibration trigger location on a road network, the upper set of laser scanners each having an elevation angle above the threshold elevation angle; and', 'generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module based on the first and second sets of return signals., 'one or more memory resources storing instructions that, when executed by the one or more processors, cause the LIDAR calibration system to2. The LIDAR calibration system of claim 1 , wherein the LIDAR calibration system is included on-board the autonomous vehicle.3. The LIDAR calibration system of claim 1 , wherein the LIDAR calibration system is remote to the autonomous vehicle claim 1 , and wherein the executed instructions further cause the LIDAR calibration system to:receive, from the autonomous vehicle over one or ...

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Номер записи: 19
21-02-2019 дата публикации

CALIBRATION FOR AN AUTONOMOUS VEHICLE LIDAR MODULE

Номер: US20190056483A1
Автор: David McAllister Bradley, Gehua Yang, BRADLEY DAVID MCALLISTER, YANG GEHUA, Bradley, David McAllister, Yang, Gehua
Принадлежит:

A LIDAR calibration module can detect a set of return signals from a plurality of fiducial targets for a set of laser scanners of an autonomous vehicle's LIDAR module. The autonomous vehicle can rest on an inclined platform of a rotating turntable to increase range variation in the return signals. Based on the set of return signals, the LIDAR calibration system can generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module. 1. A light-detection and ranging (LIDAR) calibration system for an autonomous vehicle , the LIDAR calibration system comprising:one or more processors; and for a set of laser scanners of a LIDAR module, detect a set of return signals from a plurality of fiducial targets, wherein the autonomous vehicle rests on an inclined platform of a rotating turntable to detect the set of return signals; and', 'based on the set of return signals, generate a set of calibration transforms to adjust a set of intrinsic parameters of the LIDAR module., 'one or more memory resources storing instructions that, when executed by the one or more processors, cause the LIDAR calibration system to2. The LIDAR calibration system of claim 1 , wherein the LIDAR calibration system is included on-board the autonomous vehicle.3. The LIDAR calibration system of claim 1 , wherein the LIDAR calibration system is remote to the autonomous vehicle claim 1 , and wherein the executed instructions further cause the LIDAR calibration system to:receive, from the autonomous vehicle over one or more networks, a log set comprising LIDAR data that includes the set of return signals from the LIDAR module.4. The LIDAR calibration system of claim 1 , wherein the inclined platform comprises a fixed angle incline on the rotating platform.5. The LIDAR calibration system of claim 1 , wherein the inclined platform comprises one or more actuators that controls at least one incline angle of the inclined platform.6. The LIDAR calibration system of claim 5 , ...

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Номер записи: 20
15-10-2019 дата публикации

Object detection based on Lidar intensity

Номер: US0010444365B1
Автор: Shantanu Jain, Gehua Yang
Принадлежит: Uber Technologies, Inc.

Aspects of the present disclosure involve systems, methods, and devices for determining reflectance properties of objects based on Lidar intensity values, A system includes one or more processors of a machine and a machine-storage medium storing instructions that, when executed by the one or more processors, cause the machine to perform operations comprising accessing an incoming data point output by a Lidar unit during operation of a vehicle. The operations may further include inferring, using a reflectance inference model, a reflectance value of an object based on the incoming data point. The reflectance inference model comprises a mapping of previously collected data points to a coordinate system using associated range values and raw intensity values. The operations may further include determining one or more characteristics of the object based on the inferred reflectance value.

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Номер записи: 21
23-03-2017 дата публикации

NAVIGATION OF TUBULAR NETWORKS

Номер: US20170084027A1
Автор: David S. Mintz, Atiyeh Ghoreyshi, Prasanth Jeevan, Yiliang Xu, Gehua Yang, Matthew Joseph Leotta, Charles V. Stewart, MINTZ DAVID S, GHOREYSHI ATIYEH, JEEVAN PRASANTH, XU YILIANG, YANG GEHUA, LEOTTA MATTHEW JOSEPH, STEWART CHARLES V, Mintz David S., Ghoreyshi Atiyeh, Jeevan Prasanth, Xu Yiliang, Yang Gehua, Leotta Matthew Joseph, Stewart Charles V.
Принадлежит:

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state. 1. A method comprising:accessing robotic data regarding physical manipulation of an elongated medical instrument inserted into a tubular network of a patient;accessing image data captured by an imaging device located proximal to an instrument tip of the elongated medical instrument;accessing electromagnetic (EM) data captured using an EM sensor located proximal to the instrument tip as well as using at least on external EM sensor or EM generated located external to the patient;determining a robot-based estimated state for the instrument tip based on the robotic data, the robot-based estimated state associated with a first confidence value;determining a image-based estimated state for the instrument tip based on the image data, the image-based estimated state associated with a second confidence value;determining a EM-based estimated state for the instrument tip based on the EM data, the EM-based estimated state associated with a third confidence value; anddetermining an estimated state for the instrument tip based on the robot-based, image-based, and EM-based estimated states and confidence values.2. The method of claim 1 , wherein the elongated medical instrument is a flexible ...

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Номер записи: 22
23-03-2017 дата публикации

Navigation of tubular networks

Номер: WO2017049163A1
Автор: Atiyeh Ghoreyshi, Charles V. STEWART, David S. Mintz, Gehua Yang, Matthew Joseph LEOTTA, Prasanth Jeevan, Yiliang Xu
Принадлежит: Auris Surgical Robotics, Inc.

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

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Номер записи: 23
02-10-2019 дата публикации

Object detection based on lidar intensity

Номер: CA3050586A1
Автор: Gehua Yang, Shantanu Jain
Принадлежит: Uber Technologies Inc

Aspects of the present disclosure involve systems, methods, and devices for determining reflectance properties of objects based on Lidar intensity values. A system includes one or more processors of a machine and a machine-storage medium storing instructions that, when executed by the one or more processors, cause the machine to perform operations comprising accessing an incoming data point output by a Lidar unit during operation of a vehicle. The operations may further include inferring, using a reflectance inference model, a reflectance value of an object based on the incoming data point. The reflectance inference model comprises a mapping of previously collected data points to a coordinate system using associated range values and raw intensity values. The operations may further include determining one or more characteristics of the object based on the inferred reflectance value.

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Номер записи: 24
16-05-2024 дата публикации

Systems and methods for emergency vehicle detection

Номер: WO2024102431A1
Автор: Craig C. BIDSTRUP, Drew MOSES, Gehua Yang, Jason L. OWENS, Meng Fan, Nemanja Djuric, Nilesh Kumar CHOUBEY, Zhaoen SU
Принадлежит: AURORA OPERATIONS, INC.

Systems and methods for emergency vehicle detection are provided. An example method includes obtaining sensor data including image frames indicative of an actor in an environment of an autonomous vehicle. For a respective image frame, the example, method includes determining, using a machine-learned model, that the actor is an emergency vehicle and generating output data indicating that the emergency vehicle is active or inactive. The example method includes storing (e.g., in a buffer) attribute data for the respective image frame. The attribute data includes the output data and a time associated with the respective image frame. Once the buffer reaches a particular threshold, the example method includes determining (e.g., using a second model) that the emergency vehicle is an active emergency vehicle based on the attribute data. The example method includes performing an action for the autonomous vehicle based on the active emergency vehicle being within the autonomous vehicle's environment.

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Номер записи: 25
17-09-2024 дата публикации

Navigation of tubular networks

Номер: US12089804B2
Автор: Atiyeh Ghoreyshi, Charles V. STEWART, David S. Mintz, Gehua Yang, Matthew Joseph LEOTTA, Prasanth Jeevan, Yiliang Xu
Принадлежит: Auris Health Inc

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

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Номер записи: 26