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Mobile Human Interface Robot

  • US 20120182392A1
  • Filed: 02/22/2011
  • Published: 07/19/2012
  • Est. Priority Date: 05/20/2010
  • Status: Active Grant
First Claim
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1. A method of operating a mobile robot, the method comprising:

  • receiving three-dimensional depth image data;

    producing a local perceptual space corresponding to an environment around the robot;

    classifying portions of the local perceptual space corresponding to sensed objects located above a ground plane and below a height of the robot as obstacles;

    classifying portions of the local perceptual space corresponding to sensed objects below the ground plane as obstacles;

    classifying portions of the local perceptual space corresponding to unobstructed area on the ground plane as free space;

    classifying all remaining unclassified local perceptual space as unknown; and

    executing a drive command to move to a location in the environment corresponding to local perceptual space classified as at least of free space and unknown.

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