Method and apparatus for combining data to construct a floor plan

Register USPTO Patent
Application Number 16594923
Grant Number 10740920
Status In Force
Filing Date 2019-10-07
First Publication Date 2020-08-11
Publication Date 2020-08-11
Grant Date 2020-08-11
Owner AI Incorporated (Canada)
Inventor
  • Ebrahimi Afrouzi, Ali
  • Zhang, Chen
  • Schweigert, Sebastian

Abstract

Provided is a method including capturing a plurality of images by at least one sensor of a robot; aligning, with a processor of the robot, data of respective images based on an area of overlap between the fields of view of the plurality of images; and determining, with the processor of the robot, based on alignment of the data, a spatial model of the environment.

IPC Classes  ?

  • G06T 7/593 - Depth or shape recovery from multiple images from stereo images
  • G05D 1/02 - Control of position or course in two dimensions
  • G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
  • G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
  • G06N 5/04 - Inference methods or devices
  • G06K 9/62 - Methods or arrangements for recognition using electronic means
  • G06T 7/13 - Edge detection
  • G01S 7/48 - RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - Details of systems according to groups , , of systems according to group
  • G06K 9/20 - Image acquisition
  • G06T 7/30 - Determination of transform parameters for the alignment of images, i.e. image registration
  • G06T 7/136 - Segmentation; Edge detection involving thresholding
  • G06T 7/33 - Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
  • G01S 17/48 - Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
  • G06T 7/00 - Image analysis
  • G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders