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Method and apparatus for combining data to construct a floor plan

  • US 10,482,619 B2
  • Filed: 07/27/2018
  • Issued: 11/19/2019
  • Est. Priority Date: 07/27/2017
  • Status: Active Grant
First Claim
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1. A method of perceiving a spatial model of a working environment, the method comprising:

  • capturing data by one or more sensors of a robot moving within a working environment, the data being indicative of depth within the working environment from respective sensors of the robot to objects in the working environment at a plurality of different sensor poses;

    obtaining, with one or more processors of the robot, a plurality of depth images based on the captured data, wherein;

    respective depth images are based on data captured from different positions within the working environment through which the robot moves,respective depth images comprise a plurality of depth data, the depth data indicating distance from respective sensors to objects within the working environment at respective sensor poses, anddepth data of respective depth images correspond to respective fields of view;

    aligning, with one or more processors of the robot, depth data of respective depth images based on an area of overlap between the fields of view of the plurality of depth images, wherein aligning comprises;

    determining a first area of overlap between a first depth image and a second depth image among the plurality of depth images by;

    detecting a feature in the first depth image;

    detecting the feature in the second depth image;

    determining a first value indicative of a difference in position of the feature in the first and second depth images in a first frame of reference of the one or more sensors;

    obtaining a second value indicative of a difference in pose of the one or more sensors between when depth data from which the first depth image is obtained and when depth data from which the second depth image is obtained; and

    determining the first area of overlap based on the first value and the second value; and

    determining a second area of overlap between the second depth image and a third depth image among the plurality of depth images, the first area of overlap being at least partially different from the second area of overlap; and

    determining, with one or more processors of the robot, based on alignment of the depth data, a spatial model of the working environment,wherein at least some data processing of the spatial model is offloaded from the robotic device to the cloud,wherein the spatial model is further processed to identify rooms in a floor plan, andwherein the spatial model is stored in memory accessible to the robot during a subsequent operational session for use in autonomously navigating the working environment.

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