Occupancy Change Detection System and Method
First Claim
1. A method for detecting an occupancy change near a robot, comprising:
- producing an occupancy grid map of an environment around the robot;
scanning the environment to generate a current obstacle map relative to a current robot position;
converting the current obstacle map to a current occupancy grid map; and
processing each grid cell in the occupancy grid map, the processing comprising;
comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map;
defining a changed grid cell for each grid cell where the comparing indicates a substantial difference; and
defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.
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Accused Products
Abstract
Robot platforms, methods, and computer readable media are disclosed. The robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.
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Citations
33 Claims
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1. A method for detecting an occupancy change near a robot, comprising:
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producing an occupancy grid map of an environment around the robot; scanning the environment to generate a current obstacle map relative to a current robot position; converting the current obstacle map to a current occupancy grid map; and processing each grid cell in the occupancy grid map, the processing comprising; comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map; defining a changed grid cell for each grid cell where the comparing indicates a substantial difference; and defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A computer readable medium having computer instructions thereon, which when executed on a processor provide a method for detecting an occupancy change near a robot, the computer instructions comprising instructions for:
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producing an occupancy grid map of an environment around the robot; scanning the environment to generate a current obstacle map relative to a current robot position; converting the current obstacle map to a current occupancy grid map; and processing each grid cell in the occupancy grid map, the processing comprising; comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map; defining a changed grid cell for each grid cell where the comparing indicates a substantial difference; and defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A robot platform, comprising:
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at least one perceptor configured for perceiving environmental variables of interest; at least one locomotor configured for providing mobility to the robot platform; a system controller configured for executing computer instructions configured for detecting an occupancy change near a robot, the computer instructions comprising instructions for; producing an occupancy grid map of an environment around the robot; scanning the environment to generate a current obstacle map relative to a current robot position; converting the current obstacle map to a current occupancy grid map; and processing each grid cell in the occupancy grid map, the processing comprising; comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map; defining a changed grid cell for each grid cell where the comparing indicates a substantial difference; and defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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Specification