Multimodal localization and mapping for a mobile automation apparatus
US10949798B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 1, 2017 |
| Grant date | Mar 16, 2021 |
| Priority date | — |
| Expiry date | Jul 26, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A device and method for multimodal localization and mapping for a mobile automation apparatus is provided. Features are extracted from images acquired by a ceiling-facing image device of the mobile automation apparatus in an environment, and stored in association with estimated positions of the mobile automation apparatus in the environment as determined from one or more sensors, as well as in association with features extracted from depth data acquired from a depth-sensing device, for example as map data. The map data is later used by the mobile automation apparatus to navigate the environment based, at least in part, on further images acquired by the ceiling-facing image device.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.