Vehicle positioning or navigation utilizing associated feature pairs
US9984467B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 26, 2015 |
| Grant date | May 29, 2018 |
| 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 vehicle positioning or navigation utilizing associated feature pairs may include creating a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each pair from the UV space information with pairs from each of the plurality of three-dimensional global feature points of the industrial facility map, calculating a best estimate poses from calculated vehicle poses of the associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position and setting a seed position as the current localized position. The navigation of the materials handling vehicle is tracked and/or navigated along the inventory transit surface navigate in at least a partially automated manner utilizing the current localized position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.