LOCALIZATION METHOD FOR MOBILE REMOTE INSPECTION AND/OR MANIPULATION TOOLS IN CONFINED SPACES AND ASSOCIATED SYSTEM

A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided.The system (18) comprises a mobile remote inspection and/or manipulation device (3) including a carrier (24, 52a-c) movable within the confined space (7) and an inspection and/or m...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	JHA, Nitish, OETIKER, Moritz, NEUKOM, Tobias
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	CONTROLLING GYROSCOPIC INSTRUMENTS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS REGULATING SURVEYING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

container_end_page
container_issue
container_start_page
container_title
container_volume
creator	JHA, Nitish OETIKER, Moritz NEUKOM, Tobias
description	A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided.The system (18) comprises a mobile remote inspection and/or manipulation device (3) including a carrier (24, 52a-c) movable within the confined space (7) and an inspection and/or manipulation tool (13), such as an inspection camera (14), pose sensors (22, 28, 53a-c, 54) arranged on the movable carrier (24, 52a-c) for providing signals indicative of the position and orientation of the movable carrier (24, 52a-c), and distance sensors (29, 31) arranged on the movable carrier (24, 52a-c) for providing signals indicative of the distance to interior surfaces (6) of the confined space (7) as well as a pre-existing 3D environment model of interior surfaces of the confined space.The localization method uses probabilistic comparison of measurement data provided by the distance sensors (29, 31) with simulated distance values that would result from a set of candidate poses of the movable carrier using the 3D environment model in order to precisely determine the actual 3D pose of the movable carrier .
format	Patent
fullrecord	<record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_EP3893074A1</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>EP3893074A1</sourcerecordid><originalsourceid>FETCH-epo_espacenet_EP3893074A13</originalsourceid><addsrcrecordid>eNqNyzEKwkAQBdA0FqLeYS4gKhHUctxMyMDuzpKdFNqEIGslGoj3R6MewOrD_-9Ps8GKQctnVBYPjrSSAkqpwcmRLUFNTpSAfQxkPgZ9sRp39Bwa-_2piI1vBEZ8yZ4KiAENxREDxiiGUcf2FJXcPJtcu9uQFr-cZVCSmmqZ-kebhr67pHt6thTy_SFf77a4yf8gLyosOHA</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>LOCALIZATION METHOD FOR MOBILE REMOTE INSPECTION AND/OR MANIPULATION TOOLS IN CONFINED SPACES AND ASSOCIATED SYSTEM</title><source>esp@cenet</source><creator>JHA, Nitish ; OETIKER, Moritz ; NEUKOM, Tobias</creator><creatorcontrib>JHA, Nitish ; OETIKER, Moritz ; NEUKOM, Tobias</creatorcontrib><description>A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided.The system (18) comprises a mobile remote inspection and/or manipulation device (3) including a carrier (24, 52a-c) movable within the confined space (7) and an inspection and/or manipulation tool (13), such as an inspection camera (14), pose sensors (22, 28, 53a-c, 54) arranged on the movable carrier (24, 52a-c) for providing signals indicative of the position and orientation of the movable carrier (24, 52a-c), and distance sensors (29, 31) arranged on the movable carrier (24, 52a-c) for providing signals indicative of the distance to interior surfaces (6) of the confined space (7) as well as a pre-existing 3D environment model of interior surfaces of the confined space.The localization method uses probabilistic comparison of measurement data provided by the distance sensors (29, 31) with simulated distance values that would result from a set of candidate poses of the movable carrier using the 3D environment model in order to precisely determine the actual 3D pose of the movable carrier .</description><language>eng ; fre ; ger</language><subject>CONTROLLING ; GYROSCOPIC INSTRUMENTS ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; REGULATING ; SURVEYING ; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ; TESTING</subject><creationdate>2021</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20211013&DB=EPODOC&CC=EP&NR=3893074A1$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20211013&DB=EPODOC&CC=EP&NR=3893074A1$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>JHA, Nitish</creatorcontrib><creatorcontrib>OETIKER, Moritz</creatorcontrib><creatorcontrib>NEUKOM, Tobias</creatorcontrib><title>LOCALIZATION METHOD FOR MOBILE REMOTE INSPECTION AND/OR MANIPULATION TOOLS IN CONFINED SPACES AND ASSOCIATED SYSTEM</title><description>A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided.The system (18) comprises a mobile remote inspection and/or manipulation device (3) including a carrier (24, 52a-c) movable within the confined space (7) and an inspection and/or manipulation tool (13), such as an inspection camera (14), pose sensors (22, 28, 53a-c, 54) arranged on the movable carrier (24, 52a-c) for providing signals indicative of the position and orientation of the movable carrier (24, 52a-c), and distance sensors (29, 31) arranged on the movable carrier (24, 52a-c) for providing signals indicative of the distance to interior surfaces (6) of the confined space (7) as well as a pre-existing 3D environment model of interior surfaces of the confined space.The localization method uses probabilistic comparison of measurement data provided by the distance sensors (29, 31) with simulated distance values that would result from a set of candidate poses of the movable carrier using the 3D environment model in order to precisely determine the actual 3D pose of the movable carrier .</description><subject>CONTROLLING</subject><subject>GYROSCOPIC INSTRUMENTS</subject><subject>MEASURING</subject><subject>MEASURING DISTANCES, LEVELS OR BEARINGS</subject><subject>NAVIGATION</subject><subject>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</subject><subject>PHYSICS</subject><subject>REGULATING</subject><subject>SURVEYING</subject><subject>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</subject><subject>TESTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2021</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNyzEKwkAQBdA0FqLeYS4gKhHUctxMyMDuzpKdFNqEIGslGoj3R6MewOrD_-9Ps8GKQctnVBYPjrSSAkqpwcmRLUFNTpSAfQxkPgZ9sRp39Bwa-_2piI1vBEZ8yZ4KiAENxREDxiiGUcf2FJXcPJtcu9uQFr-cZVCSmmqZ-kebhr67pHt6thTy_SFf77a4yf8gLyosOHA</recordid><startdate>20211013</startdate><enddate>20211013</enddate><creator>JHA, Nitish</creator><creator>OETIKER, Moritz</creator><creator>NEUKOM, Tobias</creator><scope>EVB</scope></search><sort><creationdate>20211013</creationdate><title>LOCALIZATION METHOD FOR MOBILE REMOTE INSPECTION AND/OR MANIPULATION TOOLS IN CONFINED SPACES AND ASSOCIATED SYSTEM</title><author>JHA, Nitish ; OETIKER, Moritz ; NEUKOM, Tobias</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_EP3893074A13</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng ; fre ; ger</language><creationdate>2021</creationdate><topic>CONTROLLING</topic><topic>GYROSCOPIC INSTRUMENTS</topic><topic>MEASURING</topic><topic>MEASURING DISTANCES, LEVELS OR BEARINGS</topic><topic>NAVIGATION</topic><topic>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</topic><topic>PHYSICS</topic><topic>REGULATING</topic><topic>SURVEYING</topic><topic>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</topic><topic>TESTING</topic><toplevel>online_resources</toplevel><creatorcontrib>JHA, Nitish</creatorcontrib><creatorcontrib>OETIKER, Moritz</creatorcontrib><creatorcontrib>NEUKOM, Tobias</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>JHA, Nitish</au><au>OETIKER, Moritz</au><au>NEUKOM, Tobias</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>LOCALIZATION METHOD FOR MOBILE REMOTE INSPECTION AND/OR MANIPULATION TOOLS IN CONFINED SPACES AND ASSOCIATED SYSTEM</title><date>2021-10-13</date><risdate>2021</risdate><abstract>A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided.The system (18) comprises a mobile remote inspection and/or manipulation device (3) including a carrier (24, 52a-c) movable within the confined space (7) and an inspection and/or manipulation tool (13), such as an inspection camera (14), pose sensors (22, 28, 53a-c, 54) arranged on the movable carrier (24, 52a-c) for providing signals indicative of the position and orientation of the movable carrier (24, 52a-c), and distance sensors (29, 31) arranged on the movable carrier (24, 52a-c) for providing signals indicative of the distance to interior surfaces (6) of the confined space (7) as well as a pre-existing 3D environment model of interior surfaces of the confined space.The localization method uses probabilistic comparison of measurement data provided by the distance sensors (29, 31) with simulated distance values that would result from a set of candidate poses of the movable carrier using the 3D environment model in order to precisely determine the actual 3D pose of the movable carrier .</abstract><oa>free_for_read</oa></addata></record>
fulltext	fulltext_linktorsrc
identifier
ispartof
issn
language	eng ; fre ; ger
recordid	cdi_epo_espacenet_EP3893074A1
source	esp@cenet
subjects	CONTROLLING GYROSCOPIC INSTRUMENTS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS REGULATING SURVEYING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING
title	LOCALIZATION METHOD FOR MOBILE REMOTE INSPECTION AND/OR MANIPULATION TOOLS IN CONFINED SPACES AND ASSOCIATED SYSTEM
url	https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-22T07%3A16%3A29IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-epo_EVB&rft_val_fmt=info:ofi/fmt:kev:mtx:patent&rft.genre=patent&rft.au=JHA,%20Nitish&rft.date=2021-10-13&rft_id=info:doi/&rft_dat=%3Cepo_EVB%3EEP3893074A1%3C/epo_EVB%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true