US 12,461,997 B2
Systems and methods of sensor data fusion
Armando Montalvo, Winter Garden, FL (US)
Assigned to Digital Global Systems, Inc., Tysons Corner, VA (US)
Filed by Digital Global Systems, Inc., Tysons Corner, VA (US)
Filed on Jan. 10, 2025, as Appl. No. 19/016,257.
Application 19/016,257 is a continuation of application No. 18/990,161, filed on Dec. 20, 2024, granted, now 12,360,499.
Application 18/990,161 is a continuation of application No. 18/988,120, filed on Dec. 19, 2024, granted, now 12,314,346.
Prior Publication US 2025/0144806 A1, May 8, 2025
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 10/80 (2022.01); B25J 9/16 (2006.01); B60R 19/48 (2006.01); B60T 8/1755 (2006.01); B60T 8/32 (2006.01); B60W 10/18 (2012.01); B60W 10/184 (2012.01); B60W 30/085 (2012.01); B60W 30/09 (2012.01); B60W 60/00 (2020.01); B62D 15/02 (2006.01); G01C 3/00 (2006.01); G01C 21/00 (2006.01); G01C 22/00 (2006.01); G01S 5/14 (2006.01); G01S 11/00 (2006.01); G01S 13/08 (2006.01); G01S 13/10 (2006.01); G01S 13/42 (2006.01); G01S 15/08 (2006.01); G01S 15/10 (2006.01); G01S 15/42 (2006.01); G01S 17/08 (2006.01); G01S 17/88 (2006.01); G01S 17/894 (2020.01); G05B 13/02 (2006.01); G06F 7/14 (2006.01); G06F 7/16 (2006.01); G06F 16/24 (2019.01); G06F 16/245 (2019.01); G06F 16/2455 (2019.01); G06F 16/33 (2019.01); G06F 16/334 (2025.01); G06F 16/43 (2019.01); G06F 16/53 (2019.01); G06F 16/903 (2019.01); G06F 16/9035 (2019.01); G06F 17/18 (2006.01); G06F 18/21 (2023.01); G06F 18/2431 (2023.01); G06F 18/25 (2023.01); G06N 3/02 (2006.01); G06N 3/0464 (2023.01); G06N 5/022 (2023.01); G06N 5/04 (2023.01); G06N 5/045 (2023.01); G06N 5/046 (2023.01); G06N 5/048 (2023.01); G06T 7/521 (2017.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); H04L 67/12 (2022.01); H04W 4/38 (2018.01); B60W 50/00 (2006.01); G01C 21/16 (2006.01); G01S 7/48 (2006.01); G01S 13/931 (2020.01); G05D 101/15 (2024.01); G05D 111/50 (2024.01); G05D 111/67 (2024.01); G06F 18/213 (2023.01); G06N 20/00 (2019.01); G08B 29/18 (2006.01); G08G 1/01 (2006.01); G08G 1/04 (2006.01); G08G 1/042 (2006.01)
CPC G06F 18/256 (2023.01) [B25J 9/163 (2013.01); B60R 19/483 (2013.01); B60T 8/1755 (2013.01); B60T 8/3275 (2013.01); B60W 10/18 (2013.01); B60W 10/184 (2013.01); B60W 30/085 (2013.01); B60W 30/09 (2013.01); B60W 60/0018 (2020.02); B60W 60/00186 (2020.02); B62D 15/0285 (2013.01); G01C 3/00 (2013.01); G01C 21/3804 (2020.08); G01C 21/3811 (2020.08); G01C 21/3848 (2020.08); G01C 22/00 (2013.01); G01S 5/14 (2013.01); G01S 11/00 (2013.01); G01S 13/08 (2013.01); G01S 13/103 (2013.01); G01S 13/42 (2013.01); G01S 15/08 (2013.01); G01S 15/101 (2013.01); G01S 15/42 (2013.01); G01S 17/08 (2013.01); G01S 17/88 (2013.01); G01S 17/894 (2020.01); G05B 13/0205 (2013.01); G06F 7/14 (2013.01); G06F 7/16 (2013.01); G06F 16/24 (2019.01); G06F 16/245 (2019.01); G06F 16/2455 (2019.01); G06F 16/24556 (2019.01); G06F 16/2456 (2019.01); G06F 16/33 (2019.01); G06F 16/334 (2019.01); G06F 16/43 (2019.01); G06F 16/53 (2019.01); G06F 16/903 (2019.01); G06F 16/90335 (2019.01); G06F 16/9035 (2019.01); G06F 17/18 (2013.01); G06F 18/217 (2023.01); G06F 18/2431 (2023.01); G06F 18/25 (2023.01); G06F 18/251 (2023.01); G06N 3/02 (2013.01); G06N 3/0464 (2023.01); G06N 5/022 (2013.01); G06N 5/042 (2013.01); G06N 5/045 (2013.01); G06N 5/046 (2013.01); G06N 5/048 (2013.01); G06T 7/521 (2017.01); G06V 10/764 (2022.01); G06V 10/803 (2022.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01); H04L 67/12 (2013.01); H04W 4/38 (2018.02); B25J 9/1664 (2013.01); B25J 9/1694 (2013.01); B60T 2201/00 (2013.01); B60T 2201/03 (2013.01); B60W 2050/0052 (2013.01); B60W 60/00 (2020.02); B60W 2420/00 (2013.01); B60W 2420/40 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/50 (2013.01); B60W 2510/069 (2013.01); B60W 2510/18 (2013.01); B60W 2520/04 (2013.01); B60W 2540/12 (2013.01); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); B60W 2556/35 (2020.02); B60W 2710/18 (2013.01); B60W 2754/30 (2020.02); G01C 21/1652 (2020.08); G01S 7/4808 (2013.01); G01S 2013/93185 (2020.01); G05D 2101/15 (2024.01); G05D 2111/50 (2024.01); G05D 2111/67 (2024.01); G06F 18/213 (2023.01); G06N 5/04 (2013.01); G06N 20/00 (2019.01); G06T 2207/10028 (2013.01); G06T 2207/20024 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30252 (2013.01); G06T 2207/30264 (2013.01); G06V 10/80 (2022.01); G08B 29/188 (2013.01); G08G 1/0133 (2013.01); G08G 1/04 (2013.01); G08G 1/042 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A system for sensor data fusion for sensor management and utilization in robotics, comprising:
at least one computer processor including a memory;
at least one curation engine, at least one link engine, at least one fusion engine, at least one inference engine, and at least one validation engine;
at least one first position sensor operable to capture a first position measurement corresponding to a first position of a robotic component; and
at least one second position sensor operable to capture a second position measurement corresponding to the first position of the robotic component;
wherein the at least one computer processor is operable to analyze the first position measurement and the second position measurement;
wherein the at least one computer processor is operable to receive at least one query;
wherein the at least one curation engine is operable to curate the first position measurement and the second position measurement, the at least one link engine is operable to link the first position measurement and the second position measurement via calculating a conditional entropy between the first position measurement and the second position measurement, the at least one fusion engine is operable to fuse the first position measurement and the second position measurement, thereby creating fused data, the at least one inference engine is operable to determine at least one inference from the first position measurement and the second position measurement, and the at least one validation engine is operable to validate the first position measurement and the second position measurement;
wherein the fused data includes at least one new data set;
wherein the at least one inference engine determines the at least one inference by using artificial intelligence based in part on the at least one query and/or the at least one new data set;
wherein the at least one validation engine is operable to actively validate the fused data;
wherein the actively validating the fused data includes modification of position of the at least one first position sensor, and the at least one first position sensor is operable to capture a third position measurement at the modified position to generate a second data set;
wherein the actively validating the fused data further includes the at least one validation engine comparing the fused data to the second data set via a statistical comparison;
wherein the at least one inference engine is operable to respond to the at least one query based in part on the at least one inference;
wherein the at least one inference engine is operable to determine internal sensor damage for the at least one first position sensor and the at least one second position sensor based on the at least one inference; and
wherein the at least one computer processor is operable to instruct the robotic component to move to a second position based on the at least one new data set and the first position measurement and the second position measurement.