Project MinotaurPatent Liability Assessment

Jon Roose for Team 16

Project Overview

• Home Security Robot• Interaction through a Webserver• Robot driven manually through house and

spots intruders• Relays video to web interface using kinnect

Software Hierarchy

Gutmann - US0257910A1

• Filing Date: 03/17/2005 • Publication Date: 11/08/2007 • Inventors: Gutmann et. al.• Method and Apparatus for Detecting Plane, and

Robot Apparatus Having Apparatus for Detecting Plane

• Equivalent infringement• Abstract: Identifies planes for use in later

algorithms and room mapping.

Gutmann - US0257910A1

• Uses distance measurements to identify stairs for walking robot

• Uses linear regression to find lines with planes• Uses lines to reconstruct planar surfaces• Similar to our system that detects wall and floor planes• Conclusion: Can’t design around, required to

implement obstacle avoidance• Liability: Equivalent infringement• Recommendation: License patent

Honeywell - EP2166375A2

• Filing Date: 09/10/2009 • Publication Date: 03/24/2010• Assignee: Honeywell International Inc.• System and method of extracting plane features • Literal infringement• Abstract: Uses mathematical features of nearby

3d planes to determine orientation and motion of robot

Honeywell - EP2166375A2

Patent Illustration Our simulation of plane detection

Honeywell - EP2166375A2• Identifies planes in 3d space using distance sensor• Calculates normals of planes in 3d space• Compares subsequent range images to determine motion

and orientation of robot• Recommends pairing odometer with design• Used in UAV’s to minimize perspective distortion• Conclusion: Can’t design around unless we accept

inaccuracies of odometer• Liability: Direct Infringement• Recommendation: License patent

Fujitsu - US7218993

• Filing Date: 01/04/2005 • Publication Date: 05/15/2007 • Assignee: Fujitsu Limited• Robot system and autonomous mobile robot• Literal Infringement• Abstract: This is our project

Fujitsu - US7218993

Software Hierarchy

Fujitsu - US7218993• Home security robot• Patrols mapped area and records images/video• Streams images/video to external device• Recommends optional C&C server to communicate with external

devices• Detects “suspicious” forms and alerts user• Uses processor for motion control• Designed as MARON-1 in 2002, phone controlled robot• Conclusion: Can’t design around, is our project• Liability: Direct Infringement• Recommendation: License patent

Questions?