Autonomous mobile apparatus and control method thereof
US11579624B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 22, 2020 |
| Grant date | Feb 14, 2023 |
| Priority date | — |
| Expiry date | May 26, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present disclosure provides an autonomous mobile apparatus and a control method thereof. The method includes: starting a SLAM mode; obtaining first image data captured by a first camera; extracting a first tag image of positioning tag(s) from the first image data; calculating a three-dimensional camera coordinate of feature points of the positioning tag(s) in a first camera coordinate system of the first camera based on the first tag image; calculating a three-dimensional world coordinate of the feature points of the positioning tag(s) in a world coordinate system based on a first camera pose of the first camera when obtaining the first image data in the world coordinate system and the three-dimensional camera coordinate; and generating a map file based on the three-dimensional world coordinate of the feature points of the positioning tag(s).
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.