Autonomous machine navigation and training using vision system

US11334082B2 · kind B2 · utility

Assignee

• THE TORO COMPANY · US

Inventors

• Alexander Steven Frick · Farmington, US
• Jason Thomas Kraft · Stillwater, US
• Ryan Ingvalson · Loretto, US
• Christopher Charles Osterwood · Pittsburgh, US
• David LaRose · Pittsburgh, US
• Zachary Irvin Parker · Pittsburgh, US
• Adam Richard Williams · Conroe, US
• Stephen Paul Elizondo Landers · Portsmouth, US
• Michael Jason Ramsay · Los Altos, US
• Brian Daniel Beyer · Pittsburgh, US

Key dates

• Filing date: Aug 7, 2019
• Grant date: May 17, 2022
• Expiry date: Apr 11, 2040

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A01D2101/00
• WIPO field: Control
• WIPO sector: Instruments

Abstract

Autonomous machine navigation techniques may generate a three-dimensional point cloud that represents at least a work region based on feature data and matching data. Pose data associated with points of the three-dimensional point cloud may be generated that represents poses of an autonomous machine. A boundary may be determined using the pose data for subsequent navigation of the autonomous machine in the work region. Non-vision-based sensor data may be used to determine a pose. The pose may be updated based on the vision-based pose data. The autonomous machine may be navigated within the boundary of the work region based on the updated pose. The three-dimensional point cloud may be generated based on data captured during a touring phase. Boundaries may be generated based on data captured during a mapping phase.