Industrial vehicle with feature-based localization and navigation
First Claim
1. A system comprising a vehicle camera, and a navigation module comprising memory and a processor, wherein:
- the vehicle camera is communicatively coupled to the navigation module and is configured to capture input images;
the navigation module is configured to distinguish between object types in the input images by executing machine readable instructions torun a cascading series of image smoothing and subsampling operations upon the input images to generate a collection of smoothed images,build a first set of images from the collection of smoothed images, wherein the first set of images has a same size and structure as the smoothed images,build a second set of images from the collection of smoothed images, wherein the second set of images has the same size and structure as the smoothed images,utilize the first set of images to identify circular candidate object types in the input images,utilize the second set of images to identify elongated candidate object types in the input images,subject the identified circular and elongated candidate object types to candidate feature processing to identify valid object types in the input images, wherein the valid object types include circular object types which are ceiling lights and elongated object types which are skylights, andgenerate navigational data based upon the identified valid object types.
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Abstract
An industrial vehicle is provided comprising a drive mechanism, a steering mechanism, a vehicle controller, a camera, and a navigation module. The camera is communicatively coupled to the navigation module, the vehicle controller is responsive to commands from the navigation module, and the drive mechanism and the steering mechanism are responsive to commands from the vehicle controller. The camera is configured to capture an input image of a warehouse ceiling comprising elongated skylights characterized by different rates of image intensity change along longitudinal and transverse axial directions, and ceiling lights characterized by a circularly symmetric rate of image intensity change. The navigation module is configured to distinguish between the ceiling lights and the skylights and send commands to the vehicle controller for localization, or to navigate the industrial vehicle through the warehouse based upon valid ceiling light identification, valid skylight identification, or both.
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Citations
19 Claims
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1. A system comprising a vehicle camera, and a navigation module comprising memory and a processor, wherein:
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the vehicle camera is communicatively coupled to the navigation module and is configured to capture input images; the navigation module is configured to distinguish between object types in the input images by executing machine readable instructions to run a cascading series of image smoothing and subsampling operations upon the input images to generate a collection of smoothed images, build a first set of images from the collection of smoothed images, wherein the first set of images has a same size and structure as the smoothed images, build a second set of images from the collection of smoothed images, wherein the second set of images has the same size and structure as the smoothed images, utilize the first set of images to identify circular candidate object types in the input images, utilize the second set of images to identify elongated candidate object types in the input images, subject the identified circular and elongated candidate object types to candidate feature processing to identify valid object types in the input images, wherein the valid object types include circular object types which are ceiling lights and elongated object types which are skylights, and generate navigational data based upon the identified valid object types. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A navigation module comprising memory and a processor, wherein:
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the memory is coupled to the processor; and the processor is configured to distinguish between object types in input images by executing machine readable instructions to run a cascading series of image smoothing and subsampling operations upon the input images to generate a collection of smoothed images, build a first set of images from the collection of smoothed images, wherein the first set of images has a same size and structure as the smoothed images, build a second set of images from the collection of smoothed images, wherein the second set of images has the same size and structure as the smoothed images, utilize the first set of images to identify circular candidate object types in the input images, utilize the second set of images to identify elongated candidate object types in the input images, subject the identified circular and elongated candidate object types to candidate feature processing to identify valid object types in the input images, wherein the valid object types include circular object types which are ceiling lights and elongated object types which are skylights, and generate navigational data based upon the identified valid object types.
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Specification