Mobile robotic device that processes unstructured data of indoor environments to segment rooms in a facility to improve movement of the device through the facility
US11054839B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 28, 2017 |
| Grant date | Jul 6, 2021 |
| Priority date | — |
| Expiry date | Jul 16, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0242
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A mobile robotic device receives point cloud data corresponding to an internal space of a facility and processes the data to generate a map of the facility that enables the mobile robotic device to move within the internal space. The processing of the point cloud data includes segmentation of the data into planar primitives that are identified as ceiling, floor, or wall primitives. Openings in the wall primitives are identified as doors or occlusions. Viewpoints for the processed planar primitives are generated and a complex cell data structure is generated with vertices representing faces of the structure and edges representing walls. After an energy minimization of the complex cell structure is performed, adjacent regions of space are evaluated for merger and a map of the internal space is generated. The mobile robotic device moves through the internal space of the facility with reference to the map.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.