Localization method and system for mobile remote inspection and/or manipulation tools in confined spaces
US11579097B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 1, 2021 |
| Grant date | Feb 14, 2023 |
| Priority date | — |
| Expiry date | Apr 1, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A localization method and system for mobile remote inspection and/or manipulation tools in confined spaces are provided. The system comprises a mobile remote inspection and/or manipulation device including a carrier movable within the confined space and an inspection and/or manipulation tool, such as an inspection camera, pose sensors arranged on the movable carrier for providing signals indicative of the position and orientation of the movable carrier, and distance sensors arranged on the movable carrier for providing signals indicative of the distance to interior surfaces of the confined space. The localization method makes use of probalistic sensor fusion of the measurement data provided by the pose sensors and the distance sensors in order to precisely determine the actual pose of the movable carrier and localize data generated by the inspection and/or manipulation tool.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.