1. Project Minotaur Patent Liability Assessment Jon Roose for Team 16

2. Project Overview Home Security Robot Interaction through a Webserver Robot driven manually through house and spots intruders Relays video to web interface using kinnect

3. Software Hierarchy

4. 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.

5. 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

6. 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

7. Honeywell - EP2166375A2 Patent Illustration Our simulation of plane detection

8. 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

9. 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

10. Fujitsu - US7218993

11. Software Hierarchy

12. 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

13. Questions?