Mobile Human Interface Robot
First Claim
Patent Images
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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Abstract
A method of object detection for a mobile robot includes emitting a speckle pattern of light onto a scene about the robot while maneuvering the robot across a work surface, receiving reflections of the emitted speckle pattern off surfaces of a target object in the scene, determining a distance of each reflecting surface of the target object, constructing a three-dimensional depth map of the target object, and classifying the target object.
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Citations
50 Claims
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1. A method of operating a mobile robot, the method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of operating a mobile robot to follow a person, the method comprising:
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receiving three-dimensional image data from a volumetric point cloud imaging device positioned to be capable of obtaining a point cloud from a volume of space adjacent the robot; segmenting the received three-dimensional image data into objects; filtering the objects to remove objects greater than a first threshold size and smaller than a second threshold size; identifying a person corresponding to at least a portion of the filtered objects; and moving at least a portion of the robot with respect to the identified person. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A method of object detection for a mobile robot, the method comprising:
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maneuvering the robot across a work surface; emitting light onto a scene about the robot; capturing images of the scene along a drive direction of the robot, the images comprising at least one of (a) a three-dimensional depth image, (b) an active illumination image, and (c) an ambient illumination image; determining a location of an object in the scene based on the images; assigning a confidence level for the object location; and maneuvering the robot in the scene based on the object location and corresponding confidence level. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
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42. A method of object detection for a mobile robot, the method comprising:
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emitting a speckle pattern of light onto a scene about the robot while maneuvering the robot across a work surface; receiving reflections of the emitted speckle pattern off surfaces of a target object in the scene; determining a distance of each reflecting surface of the target object; constructing a three-dimensional depth map of the target object; and classifying the target object. - View Dependent Claims (43, 44, 45, 46, 47, 48, 49, 50)
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Specification