Active scene mapping method based on constraint guidance and space optimization strategies
US12228941B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 11, 2023 |
| Grant date | Feb 18, 2025 |
| Priority date | — |
| Expiry date | Oct 2, 2043 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02T10/40
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present invention proposes an active scene mapping method based on constraint guidance and space optimization strategies, comprising a global planning stage and a local planning stage; in the global planning stage, the next exploration goal of a robot is calculated to guide the robot to explore a scene; and after the next exploration goal is determined, specific actions are generated according to the next exploration goal, the position of the robot and the constructed occupancy map in the local planning stage to drive the robot to go to a next exploration goal, and observation data is collected to update the information of the occupancy map. The present invention can effectively avoid long-distance round trips in the exploration process so that the robot can take account of information gain and movement loss in the exploration process, find a balance of exploration efficiency, and realize the improvement of active mapping efficiency.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.