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Efficient mapping of robot environment

  • US 10,078,333 B1
  • Filed: 04/17/2016
  • Issued: 09/18/2018
  • Est. Priority Date: 04/17/2016
  • Status: Active Grant
First Claim
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1. A method, comprising:

  • receiving, by one or more processors, from a three-dimensional vision sensor of a robot, a group of data points sensed by the three-dimensional vision sensor;

    identifying, by the one or more processors, one or more voxels of a three-dimensional voxel model that are occupied by the group of data points;

    determining, by the one or more processors, for each occupied voxel, data representing the occupied voxel, wherein the data includes statistics about how a plurality of data points of the group of data points are spatially distributed within the occupied voxel;

    identifying, by the one or more processors, for each occupied voxel, a column of the three-dimensional voxel model that contains the occupied voxel; and

    indexing in memory, by the one or more processors the data representing voxels of the three-dimensional voxel model, the indexing comprising indexing, in the memory, the data representing occupied voxels contained in each column by elevation without indexing one or more unoccupied voxels by elevation.

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