System for automated exploration by an autonomous mobile device using markers based on image features
US11520332B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 3, 2019 |
| Grant date | Dec 6, 2022 |
| Priority date | — |
| Expiry date | Dec 23, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S15/931
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
An autonomous mobile device (AMD) uses sensors to explore a physical space and determine the locations of obstacles. Simultaneous localization and mapping (SLAM) techniques are used by the AMD to designate as keyframes some images and their associated descriptors of features in the space. Each keyframe indicates a location and orientation of the AMD relative to those features. Anchors are specified relative to keyframes. A marker is specified relative to one or more anchors. Because markers are associated with features in the physical space, they maintain their association with the physical space through various processes such as SLAM loop closures. Markers may specify locations in the physical space, such as navigation waypoints, navigation destinations such as a goal pose for exploring an unexplored area, as an observation target to facilitate exploration, and so forth. Markers may also be used to specify block listed locations to be avoided during exploration.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.