20180006281.Pdf
11111111111111111111111111111111111111111111111111111111111111111111111111 (12) United States Patent (io) Patent No.: US 10,083,523 B2 Versace et al. (45) Date of Patent: Sep. 25, 2018 (54) METHODS AND APPARATUS FOR (56) References Cited AUTONOMOUS ROBOTIC CONTROL U.S. PATENT DOCUMENTS (71) Applicant: Neurala, Inc., Boston, MA (US) 5,063,603 A * 11/1991 Burt ................... GO6K 9/00255 382/115 (72) Inventors: Massimiliano Versace, Boston, MA 5,136,687 A 8/1992 Edelman et al. (US); Anatoly Gorshechnikov, (Continued) Newton, MA (US) FOREIGN PATENT DOCUMENTS (73) Assignee: Neurala, Inc., Boston, MA (US) EP 1 224 622 BI 7/2002 (*) Notice: Subject to any disclaimer, the term of this WO WO 2014/190208 11/2014 patent is extended or adjusted under 35 (Continued) U.S.C. 154(b) by 6 days. (21) Appl. No.: 15/262,637 OTHER PUBLICATIONS Berenson, D. et al., A robot path planning framework that learns (22) Filed: Sep. 12, 2016 from experience, 2012 International Conference on Robotics and (65) Prior Publication Data Automation, 2012,9 pages [retrieved from the internet] URL:http:// users.wpi.edu/-dberenson/lightning.pdf US 2017/0024877 Al Jan. 26, 2017 (Continued) Related U.S. Application Data Primary Examiner Li Liu (63) Continuation of application No. (74) Attorney, Agent, or Firm Smith Baluch LLP PCT/US2015/021492, filed on Mar. 19, 2015. (Continued) (57) ABSTRACT (51) Int. Cl. Sensory processing of visual, auditory, and other sensor G06K 9/00 (2006.01) information (e.g., visual imagery, LIDAR, RADAR)is con- G06T 7/70 (2017.01) ventionally based on "stovepiped," or isolated processing, (Continued) with little interactions between modules.
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