System and method for guiding heading of a mobile robotic device

Register USPTO Patent
Application Number 16504012
Grant Number 10901431
Status In Force
Filing Date 2019-07-05
First Publication Date 2021-01-26
Publication Date 2021-01-26
Grant Date 2021-01-26
Owner AI Incorporated (Canada)
  • Ebrahimi Afrouzi, Ali
  • Fath, Lukas
  • Zhang, Chen
  • Highfill, Brian


A tangible, non-transitory, machine readable medium storing instructions that when executed by an image processor effectuates operations including: causing the camera to capture one or more images of an environment of the robotic device; receiving, with the image processor, one or more multidimensional arrays including at least one parameter that describes a feature included in the one or more images, wherein values of the at least one parameter correspond with pixels of a corresponding one or more images of the feature; determining, with the image processor, an amount of asymmetry of the feature in the one or more images based on at least a portion of the values of the at least one parameter; and, transmitting, with the image processor, a signal to the processor of the controller to adjust a heading of the robotic device by an amount proportional to the amount of asymmetry of the feature.

IPC Classes  ?

  • G05D 1/02 - Control of position or course in two dimensions
  • G06T 7/68 - Analysis of geometric attributes of symmetry
  • G06T 7/521 - Depth or shape recovery from the projection of structured light
  • G06T 7/70 - Determining position or orientation of objects or cameras