Patent · US Active

Method for controlling a robot and/or an autonomous driverless transport system

US10809739B2 · kind B2 · utility

0Cited by

2References

16Claims

0Family size

Assignee

KUKA Deutschland GmbH · DE

Inventors

Dominik Joho · Kissing, DE
Daniel Meyer-Delius · Munich, DE

Key dates

Filing date	Jul 8, 2016
Grant date	Oct 20, 2020
Priority date	—
Expiry date	Jun 27, 2037

Classification

Technology area (CPC G)Physics
CPC primaryG06V20/647
WIPO fieldComputer technology
WIPO sectorElectrical engineering

Abstract

A method for controlling a robot and/or an autonomous driverless transport system on the basis of a sensor-based identification of objects includes generating. Point pair features of the 2D surface contours on the basis of 2D surface contours of the objects to be identified. A point cloud of the environment is acquired using a distance sensor, a surface normal is estimated for each point, and corresponding point pair features of the environment are generated. In a voting method, environment features are compared with model features to efficiently generate pose hypotheses, which are subjected to an optimization and a consistency check in order to ultimately be accepted or rejected as an acquisition.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.