Method for estimating distance using point measurement and color depth

Register USPTO Patent
Application Number 16393921
Grant Number 10755430
Status In Force
Filing Date 2019-04-24
First Publication Date 2020-08-25
Publication Date 2020-08-25
Grant Date 2020-08-25
Owner AI Incorporated (Canada)
  • Ebrahimi Afrouzi, Ali
  • Mehrnia, Soroush


A method including: positioning sensors on a robotic device; positioning a camera on the robotic device; capturing an image of the environment; measuring color depth of each pixel in the image; classifying each pixel into a color depth range; determining for at least one set of two points captured in the image, if the color depth of pixels measured in a region between the two points is within a predetermined range of color; generating at least one line between the two points when the color depth of pixels measured in the region between the two points is within the predetermined range of color; identifying on a map of the environment a wall surface on which the line is generated as a flat wall surface; and adjusting a heading of the robotic device relative to an angle of the wall surface.

IPC Classes  ?

  • H04N 7/18 - Closed-circuit television systems, i.e. systems in which the signal is not broadcast
  • G06T 7/60 - Analysis of geometric attributes
  • G01C 3/08 - Use of electric radiation detectors
  • G06T 7/90 - Determination of colour characteristics