SYSTEMS, METHODS, AND INDUSTRIAL VEHICLES FOR DETERMINING THE VISIBILITY OF FEATURES
First Claim
1. An industrial vehicle comprising an Environmental Based Localization (EBL) sensor communicatively coupled to one or more processors, wherein the EBL sensor detects objects within a field of view and the one or more processors execute machine readable instructions to:
- access a feature set and an occlusion set that are associated with an industrial facility;
provide a location of a sensor origin of the EBL sensor with respect to the industrial facility;
determine an occlusion path that intersects a detectable occlusion of the occlusion set and the sensor origin of the EBL sensor;
determine a feature intersection of the occlusion path, wherein the feature intersection is located on a detectable feature of the feature set or a projection of the detectable feature of the feature set;
classify the detectable feature as an occluded detectable feature based at least in part upon the location of the feature intersection; and
navigate the industrial vehicle through the industrial facility utilizing the feature set exclusive of the occluded detectable feature.
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Accused Products
Abstract
According to the embodiments described herein, an industrial vehicle can include an Environmental Based Localization (EBL) sensor communicatively coupled to one or more processors. The EBL sensor can detect objects within a field of view. The one or more processors execute machine readable instructions to access a feature set and an occlusion set that are associated with an industrial facility. An occlusion path that intersects a detectable occlusion of the occlusion set and the sensor origin of the EBL sensor can be determined. A feature intersection of the occlusion path can be determined. A detectable feature can be classified as an occluded detectable feature based at least in part upon location of the feature intersection. The industrial vehicle can be navigated through the industrial facility utilizing the feature set exclusive of the occluded detectable feature.
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Citations
18 Claims
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1. An industrial vehicle comprising an Environmental Based Localization (EBL) sensor communicatively coupled to one or more processors, wherein the EBL sensor detects objects within a field of view and the one or more processors execute machine readable instructions to:
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access a feature set and an occlusion set that are associated with an industrial facility; provide a location of a sensor origin of the EBL sensor with respect to the industrial facility; determine an occlusion path that intersects a detectable occlusion of the occlusion set and the sensor origin of the EBL sensor; determine a feature intersection of the occlusion path, wherein the feature intersection is located on a detectable feature of the feature set or a projection of the detectable feature of the feature set; classify the detectable feature as an occluded detectable feature based at least in part upon the location of the feature intersection; and navigate the industrial vehicle through the industrial facility utilizing the feature set exclusive of the occluded detectable feature. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification