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Automatically scanning and representing an environment with collision avoidance

  • US 10,341,639 B2
  • Filed: 11/16/2015
  • Issued: 07/02/2019
  • Est. Priority Date: 11/16/2015
  • Status: Active Grant
First Claim
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1. A computer-implemented method comprising:

  • obtaining a first representation of an environment employing a 3D camera coupled to a robotic arm based on a first scanning path;

    simulating a second scanning path of the 3D camera comprising movements of the robotic arm using the first representation of the environment;

    determining the 3D camera cannot reach a portion of the second scanning path so as to complete the second scanning path in response to simulating the second scanning path;

    adjusting the second scanning path in response to determining the robotic arm cannot reach the portion of the second scanning path;

    obtaining a second representation of the environment employing the 3D camera based on the adjusted second scanning path; and

    wherein the second representation of the environment is different from the first representation of the environment.

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