Method and apparatus for combining data to construct a floor plan

Register USPTO Patent
Application Number 16920328
Grant Number 11348269
Status In Force
Filing Date 2020-07-02
First Publication Date 2022-05-31
Publication Date 2022-05-31
Grant Date 2022-05-31
Owner AI Incorporated (Canada)
Inventor
  • Ebrahimi Afrouzi, Ali
  • Zhang, Chen
  • Schweigert, Sebastian
  • Fath, Lukas

Abstract

A robot for perceiving a spatial representation of an environment, including: an actuator, at least one sensor, a processor, and memory storing instructions that when executed by the processor effectuates operations including: capturing a plurality of data by the at least one sensor of the robot, wherein: the plurality of data comprises first data comprising pixel characteristics indicative of features of the environment and second data indicative of depth to objects in the environment; the plurality of data is captured from different positions within the environment through which the robot moves, the plurality of data corresponding with respective positions from which the plurality of data was captured; and the plurality of data captured from different respective positions within the environment corresponds to respective fields of view; and aligning the plurality of data as it is captured to more accurately perceive the spatial representation of the environment.

IPC Classes  ?

  • G06T 7/593 - Depth or shape recovery from multiple images from stereo images
  • G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
  • 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
  • G05D 1/02 - Control of position or course in two dimensions
  • G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
  • 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 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging