Method, system and apparatus for support structure detection
First Claim
1. A method of detecting a support structure in a navigational controller, the method comprising:
- controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing the support structure on a ground plane;
generating, for each of the depth measurements, a projected depth measurement on the ground plane;
selecting a boundary set of the projected depth measurements defining a boundary of the projection;
selecting, based on angles between adjacent pairs of the boundary set of projected depth measurements, a subset of the projected depth measurements;
generating a region of interest based on the subset of the projected depth measurements;
retrieving a candidate subset of the depth measurements corresponding to the projected depth measurements in the region of interest; and
generating a support structure plane definition based on the candidate subset of depth measurements.
6 Assignments
0 Petitions
Accused Products
Abstract
A method of detecting a support structure in a navigational controller includes: controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing the support structure on a ground plane; generating, for each of the depth measurements, a projected depth measurement on the ground plane; selecting a boundary set of the projected depth measurements defining a boundary of the projection; selecting, based on angles between adjacent pairs of the boundary set of projected depth measurements, a subset of the projected depth measurements; generating a region of interest based on the subset of the projected depth measurements; retrieving a candidate subset of the depth measurements corresponding to the projected depth measurements in the region of interest; and generating a support structure plane definition based on the candidate subset of depth measurements.
-
Citations
20 Claims
-
1. A method of detecting a support structure in a navigational controller, the method comprising:
-
controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing the support structure on a ground plane; generating, for each of the depth measurements, a projected depth measurement on the ground plane; selecting a boundary set of the projected depth measurements defining a boundary of the projection; selecting, based on angles between adjacent pairs of the boundary set of projected depth measurements, a subset of the projected depth measurements; generating a region of interest based on the subset of the projected depth measurements; retrieving a candidate subset of the depth measurements corresponding to the projected depth measurements in the region of interest; and generating a support structure plane definition based on the candidate subset of depth measurements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A mobile automation apparatus, comprising:
-
a depth sensor; and a navigational controller connected to the depth sensor, the navigational controller configured to; control the depth sensor to capture a plurality of depth measurements corresponding to an area containing the support structure on a ground plane; generate, for each of the depth measurements, a projected depth measurement on the ground plane; select a boundary set of the projected depth measurements defining a boundary of the projection; select, based on angles between adjacent pairs of the boundary set of projected depth measurements, a subset of the projected depth measurements; generate a region of interest based on the subset of the projected depth measurements; retrieve a candidate subset of the depth measurements corresponding to the projected depth measurements in the region of interest; and generate a support structure plane definition based on the candidate subset of depth measurements. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
-
Specification