GROUND TRUTH ESTIMATION FOR AUTONOMOUS NAVIGATION
First Claim
1. A method for ground truth estimation for an autonomous navigation system (navigator), the method comprising:
- calibrating a ground truth estimation system for the navigator, by determining a calibration pose of the navigator as disposed in relation to each of a plurality of landmarks during a calibration period;
directing the navigator to travel to a sequence of waypoints comprising a sequence of the landmarks;
determining the ground truth estimation based on an accuracy pose of the navigator as disposed in relation to the sequence of landmarks, and the calibration poses for the sequence of landmarks.
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Accused Products
Abstract
A system and method for ground truth estimation of an autonomous navigation system is described. The method includes calibrating a ground truth estimation system for the navigator, by determining a calibration pose of the navigator as disposed in relation to each of a plurality of landmarks during a calibration period. The method also includes directing the navigator to travel to a sequence of waypoints, the waypoints including a selected sequence of the landmarks. The method further includes determining the ground truth estimation based on an accuracy pose of the navigator as disposed in relation to the sequence of landmarks, and the calibration poses for the sequence of landmarks.
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Citations
20 Claims
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1. A method for ground truth estimation for an autonomous navigation system (navigator), the method comprising:
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calibrating a ground truth estimation system for the navigator, by determining a calibration pose of the navigator as disposed in relation to each of a plurality of landmarks during a calibration period; directing the navigator to travel to a sequence of waypoints comprising a sequence of the landmarks; determining the ground truth estimation based on an accuracy pose of the navigator as disposed in relation to the sequence of landmarks, and the calibration poses for the sequence of landmarks. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for ground truth estimation, comprising:
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a processing unit; and a system memory, wherein the system memory comprises code configured to direct the processing unit to; calibrate a ground truth estimation system for a navigator, by determining a calibration pose of the navigator as disposed in relation to each of a plurality of landmarks during a calibration period, the landmarks mounted on a ceiling above an environment navigated by the navigator; direct the navigator to travel to a sequence of waypoints comprising a sequence of the landmarks; determine the ground truth estimation based on an accuracy pose of the navigator as disposed in relation to the sequence of landmarks, and the calibration poses for the sequence of landmarks. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. One or more computer-readable storage memory devices for storing computer-readable instructions, the computer-readable instructions providing a ground truth estimation system when executed by one or more processing devices, the computer-readable instructions comprising code configured to:
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calibrate a ground truth estimation system for a robot, by determining a calibration pose of the robot as disposed in relation to each of a plurality of landmarks during a calibration period, the landmarks mounted on a ceiling above an environment navigated by the robot; direct the robot to travel to a sequence of waypoints comprising a sequence of the landmarks, the sequence being determined based on a map generated by the robot during the calibration period; and determine the ground truth estimation based on an accuracy pose of the navigator as disposed in relation to the sequence of landmarks, and the calibration poses for the sequence of landmarks. - View Dependent Claims (19, 20)
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Specification