Mobile robot system and method for generating map data using straight lines extracted from visual images
First Claim
1. A mobile robot mapping method for generating a map, comprising:
- (a) providing a mobile robot configured to navigate outdoors on a sidewalk to deliver an item, the mobile robot having a body and a space for holding the item while in transit, the mobile robot further comprising at least two cameras mounted on the body which point in different directions and have non-overlapping fields of view, and at least one processing component;
(b) operating the mobile robot in an outdoor operating area;
(c) taking visual images with the at least two cameras;
(d) extracting at least straight lines from the visual images with at least one processing component, the extracted straight lines corresponding to contours of permanent physical objects in the visual images; and
(e) generating map data using at least the extracted straight lines from the visual images;
wherein;
step (d) comprises;
detecting that a certain number of lines all belong to the same physical object and merging them into one line; and
detecting that a certain line is likely to belong to a transitory physical object and not assigning that line to a physical object.
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Accused Products
Abstract
A mobile robot is configured to navigate on a sidewalk and deliver a delivery to a predetermined location. The robot has a body and an enclosed space within the body for storing the delivery during transit. At least two cameras are mounted on the robot body and are adapted to take visual images of an operating area. A processing component is adapted to extract straight lines from the visual images taken by the cameras and generate map data based at least partially on the images. A communication component is adapted to send and receive image and/or map data. A mapping system includes at least two such mobile robots, with the communication component of each robot adapted to send and receive image data and/or map data to the other robot. A method involves operating such a mobile robot in an area of interest in which deliveries are to be made.
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Citations
28 Claims
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1. A mobile robot mapping method for generating a map, comprising:
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(a) providing a mobile robot configured to navigate outdoors on a sidewalk to deliver an item, the mobile robot having a body and a space for holding the item while in transit, the mobile robot further comprising at least two cameras mounted on the body which point in different directions and have non-overlapping fields of view, and at least one processing component; (b) operating the mobile robot in an outdoor operating area; (c) taking visual images with the at least two cameras; (d) extracting at least straight lines from the visual images with at least one processing component, the extracted straight lines corresponding to contours of permanent physical objects in the visual images; and (e) generating map data using at least the extracted straight lines from the visual images;
wherein;step (d) comprises; detecting that a certain number of lines all belong to the same physical object and merging them into one line; and detecting that a certain line is likely to belong to a transitory physical object and not assigning that line to a physical object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A mobile robot configured to navigate outdoors on a sidewalk and deliver an item, the mobile robot having a body and a space for holding the item while in transit, the robot comprising:
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at least two cameras mounted on the body and adapted to take visual images of an operating area, the at least two cameras pointing in different directions and having non-overlapping fields of view; at least one processing component adapted to extract straight lines from the visual images taken by the at least two cameras and generate map data based at least partially on straight lines corresponding to contours of permanent physical objects in the images; and a communication component adapted to send and receive image and/or map data; wherein; the at least one processing component is configured to; detect that a certain number of lines all belong to the same physical object and merge them into one line; and detect that a certain line is likely to belong to a transitory physical object and not assign that line to a physical object. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A mapping system comprising:
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at least two mobile robots, each mobile robot configured to navigate outdoors on a sidewalk and deliver an item, the mobile robot having a body and a space for holding the item while in transit, each mobile robot comprising; at least two cameras mounted on the body and adapted to take visual images of an operating area, the at least two cameras pointing in different directions and having non-overlapping fields of view; at least one processing component adapted to extract straight lines from the visual images taken by the at least two cameras and generate map data based at least partially on straight lines corresponding to contours of permanent physical objects in the images; and a communication component adapted to send and receive image and/or map data; wherein; the at least one processing component is configured to; detect that a certain number of lines all belong to the same physical object and merge them into one line; and detect that a certain line is likely to belong to a transitory physical object and not assign that line to a physical object wherein; the communication component of each robot is adapted to send and receive image data and/or map data to the other of the at least two robots. - View Dependent Claims (26, 27, 28)
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Specification