Systems and methods for robotic mapping
First Claim
1. A method of generating a map by a robot, comprising:
- traveling, by the robot, in an environment;
generating a graph comprising a plurality of nodes, a respective node of the plurality of nodes corresponds to a scan generated by a sensor of the robot at a location in the environment;
performing scan matching on extended scan groups, the extended scan groups being determined in-part on at least two or more nodes of the plurality of nodes; and
constraining the graph between a start location and an end location, the start location and the end location being at a substantially similar location in the environment.
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Accused Products
Abstract
Systems and methods for robotic mapping are disclosed. In some exemplary implementations, a robot can travel in an environment. From travelling in the environment, the robot can create a graph comprising a plurality of nodes, wherein each node corresponds to a scan taken by a sensor of the robot at a location in the environment. In some exemplary implementations, the robot can generate a map of the environment from the graph. In some cases, to facilitate map generation, the robot can constrain the graph to start and end at a substantially similar location. The robot can also perform scan matching on extended scan groups, determined from identifying overlap between scans, to further determine the location of features in a map.
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Citations
18 Claims
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1. A method of generating a map by a robot, comprising:
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traveling, by the robot, in an environment; generating a graph comprising a plurality of nodes, a respective node of the plurality of nodes corresponds to a scan generated by a sensor of the robot at a location in the environment; performing scan matching on extended scan groups, the extended scan groups being determined in-part on at least two or more nodes of the plurality of nodes; and constraining the graph between a start location and an end location, the start location and the end location being at a substantially similar location in the environment. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A robot, comprising:
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a sensor configured to generate scans of an environment at a plurality of nodes, a respective node of the plurality of nodes is associated with a location in the environment; and a mapping and localization unit configured to execute computer readable instructions to; generate a graph of the plurality of nodes based at least in part on the generated scans; determine extended scan groups in-part on at least two or more nodes of the plurality of nodes; perform scan matching on the extended scan groups; and constrain the graph between a start location and an end location, the start location and the end location being at a substantially similar location in the environment. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A non-transitory computer-readable medium having computer readable instructions stored thereon, that when executed by at least one processor, configure the at least one processor to:
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transmit a signal to at least one sensor to generate scans of an environment at a plurality of nodes, a respective node of the plurality of nodes being associated with a location in the environment; generate a graph of the plurality of nodes based in-part on the generated scans; determine extended scan groups based at least in part on two or more nodes of the plurality of nodes; perform scan matching on the extended scan groups; and constrain the graph between a start location and an end location, the start location and the end location being at a substantially similar location. - View Dependent Claims (16, 17, 18)
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Specification