Lost vehicle recovery utilizing associated feature pairs
US9349181B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 26, 2015 |
| Grant date | May 24, 2016 |
| Priority date | — |
| Expiry date | Jun 26, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
According to the embodiments described herein, a method for lost vehicle recovery utilizing associated feature pairs may include, for a materials handling vehicle determined to be lost, creating a plurality of associated feature pairs by retrieving a subsequent set of camera data from a camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each formed pair with pairs from each of a plurality of three-dimensional global feature points of an industrial facility map. The method may further include calculating a best estimate pose from calculated vehicle poses of the associated feature pairs based on a highest-rated pair of the plurality of associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position, updating the seed position as the current localized position, and operating the materials handling vehicle utilizing the updated seed position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.