Localization of a robot in an environment using detected edges of a camera image from a camera of the robot and detected edges derived from a three-dimensional model of the environment
US9849591B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Oct 2, 2015 |
| Grant date | Dec 26, 2017 |
| Priority date | — |
| Expiry date | Feb 5, 2036 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/09
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
Methods, apparatus, systems, and computer-readable media are provided for using a camera of a robot to capture an image of the robot's environment, detecting edges in the image, and localizing the robot based on comparing the detected edges in the image to edges derived from a three-dimensional (“3D”) model of the robot's environment from the point of view of an estimated pose of the robot in the environment. In some implementations, the edges are derived based on rendering, from the 3D model of the environment, a model image of the environment from the point of view of the estimated pose—and applying an edge detector to the rendered model image to detect model image edges from the model image.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.