VEHICLE POSITIONING OR NAVIGATION UTILIZING ASSOCIATED FEATURE PAIRS
First Claim
1. A materials handling vehicle comprising a camera, one or more vehicular processors, a drive mechanism configured to move the materials handling vehicle along an inventory transit surface, a materials handling mechanism configured to store and retrieve goods in a storage bay of an industrial facility, and vehicle control architecture in communication with the drive and materials handling mechanisms, wherein:
- the camera is communicatively coupled to the vehicular processor(s) and captures an input image of overhead features;
an industrial facility map comprises a plurality of three-dimensional global feature points associated with a mapping of the overhead features; and
the vehicular processor(s) of the materials handling vehicle executes vehicle functions to;
(i) create a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating pairs from the UV space information with pairs from the plurality of three-dimensional global feature points of the industrial facility map;
(ii) calculate a vehicle pose for associated feature pairs within a visual range of the camera;
(iii) calculate a best estimate pose of the materials handling vehicle based on a highest-rated pair of the plurality of associated feature pairs;
(iv) use an accumulated odometry associated with the materials handling vehicle to update the best estimate pose to a current localized position;
(v) set a seed position as the current localized position; and
(vi) track the navigation of the materials handling vehicle along the inventory transit surface, navigate the materials handling vehicle along the inventory transit surface in at least a partially automated manner, or both, utilizing the current localized position.
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Accused Products
Abstract
According to the embodiments described herein, a method for vehicle positioning or navigation utilizing associated feature pairs may include creating a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each pair from the UV space information with pairs from each of the plurality of three-dimensional global feature points of the industrial facility map, calculating a best estimate poses from calculated vehicle poses of the associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position and setting a seed position as the current localized position. The navigation of the materials handling vehicle is tracked and/or navigated along the inventory transit surface navigate in at least a partially automated manner utilizing the current localized position.
51 Citations
27 Claims
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1. A materials handling vehicle comprising a camera, one or more vehicular processors, a drive mechanism configured to move the materials handling vehicle along an inventory transit surface, a materials handling mechanism configured to store and retrieve goods in a storage bay of an industrial facility, and vehicle control architecture in communication with the drive and materials handling mechanisms, wherein:
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the camera is communicatively coupled to the vehicular processor(s) and captures an input image of overhead features; an industrial facility map comprises a plurality of three-dimensional global feature points associated with a mapping of the overhead features; and the vehicular processor(s) of the materials handling vehicle executes vehicle functions to; (i) create a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating pairs from the UV space information with pairs from the plurality of three-dimensional global feature points of the industrial facility map; (ii) calculate a vehicle pose for associated feature pairs within a visual range of the camera; (iii) calculate a best estimate pose of the materials handling vehicle based on a highest-rated pair of the plurality of associated feature pairs; (iv) use an accumulated odometry associated with the materials handling vehicle to update the best estimate pose to a current localized position; (v) set a seed position as the current localized position; and (vi) track the navigation of the materials handling vehicle along the inventory transit surface, navigate the materials handling vehicle along the inventory transit surface in at least a partially automated manner, or both, utilizing the current localized position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system comprising a materials handling vehicle and a management server, wherein:
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the materials handling vehicle comprises a camera, one or more vehicular processors, a drive mechanism configured to move the materials handling vehicle along an inventory transit surface, a materials handling mechanism configured to store and retrieve goods in a storage bay of an industrial facility, and vehicle control architecture in communication with the drive and materials handling mechanisms; the camera is communicatively coupled to the vehicular processor(s) and the management server and captures an input image of overhead features; the vehicular processor(s) is communicatively coupled to the management server; an industrial facility map stored on the management server is communicatively coupled to the vehicular processor(s), wherein the industrial facility map comprises a plurality of three-dimensional global feature points associated with a mapping of the overhead features; and the vehicular processor(s) of the materials handling vehicle executes vehicle functions to; (i) create a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating pairs from the UV space information with pairs from the plurality of three-dimensional global feature points of the industrial facility map; (ii) calculate a vehicle pose for associated feature pairs within a visual range of the camera; (iii) calculate a best estimate pose of the materials handling vehicle based on a highest-rated pair of the plurality of associated feature pairs; (iv) use an accumulated odometry associated with the materials handling vehicle to update the best estimate pose to a current localized position; (v) set a seed position as the current localized position; (vi) track the navigation of the materials handling vehicle along the inventory transit surface, navigate the materials handling vehicle along the inventory transit surface in at least a partially automated manner, or both, utilizing the current localized position. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A method of navigating or tracking the navigation of a materials handling vehicle along an inventory transit surface, the method comprising:
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disposing a materials handling vehicle upon an inventory transit surface of an industrial facility, wherein the materials handling vehicle is in communication with a management server, wherein the materials handling vehicle comprises a camera, one or more vehicular processors, a drive mechanism configured to move the materials handling vehicle along the inventory transit surface, a materials handling mechanism configured to store and retrieve goods in a storage bay of the industrial facility, and vehicle control architecture in communication with the drive and materials handling mechanisms; utilizing the drive mechanism to move the materials handling vehicle along the inventory transit surface; capturing an input image of overhead features of the industrial facility via the camera as the materials handling vehicle moves along the inventory transit surface; providing an industrial facility map comprising a plurality of three-dimensional global feature points associated with a mapping of the ceiling lights; creating a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating pairs from the UV space information with pairs from the plurality of three-dimensional global feature points of the industrial facility map; via the vehicular processor(s), calculating a vehicle pose for associated feature pairs within a visual range of the camera; via the vehicular processor(s), calculating a best estimate pose of the materials handling vehicle based on a highest-rated pair of the plurality of associated feature pairs; using an accumulated odometry associated with the materials handling vehicle to update the best estimate pose to a current localized position; setting a seed position as the current localized position; and via the vehicular processor(s) and the management server, tracking the navigation of the materials handling vehicle along the inventory transit surface, navigating the materials handling vehicle along the inventory transit surface in at least a partially automated manner, or both, utilizing the current localized position. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27)
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Specification