Fast open doorway detection for autonomous robot exploration
US9251417B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 15, 2014 |
| Grant date | Feb 2, 2016 |
| Priority date | — |
| Expiry date | Oct 15, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2210/21
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Described is a system for open doorway detection for autonomous robot exploration, the system includes an onboard range sensor that is operable for constructing a three-dimensional (3D) point cloud of a scene. One or more processors that receive the 3D point cloud from the range sensor. The 3D point cloud is then filtered and downsampled to remove cloud points outside of a predefined range and reduce a size of the point cloud and, in doing so, generate a filtered and downsampled 3D point cloud. Vertical planes are extracted from the filtered and downsampled 3D point cloud. Finally, open doorways are identified from each extracted vertical plane.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.