Systems and Methods for Capturing Images and Annotating the Captured Images with Information
First Claim
1. An autonomous mobile robot, comprising:
- a drive configured to maneuver the autonomous mobile robot over a floor surface within an operating environment;
a camera having a field of view in a drive direction of the autonomous mobile robot;
a plurality of sensors configured to detect obstacles in the drive direction of the autonomous mobile robot;
a frame buffer configured to store image frames obtained by the camera while the mobile robot is driving, the image frames corresponding to portions of the operating environment;
a controller configured to generate a map of the operating environment and associate metadata with a respective image frame obtained by the camera, the metadata comprising a time and pose of the autonomous mobile robot when the respective image frame was captured; and
a memory device configured to store a learned data set comprising a plurality of descriptors corresponding to pixel patches in the image frames, wherein one or more of the descriptors are determined based on sensor events indicative of the obstacles detected by the sensors.
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Abstract
The present teachings provide an autonomous mobile robot that includes a drive configured to maneuver the robot over a ground surface within an operating environment; a camera mounted on the robot having a field of view including the floor adjacent the mobile robot in the drive direction of the mobile robot; a frame buffer that stores image frames obtained by the camera while the mobile robot is driving; and a memory device configured to store a learned data set of a plurality of descriptors corresponding to pixel patches in image frames corresponding to portions of the operating environment and determined by mobile robot sensor events.
43 Citations
20 Claims
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1. An autonomous mobile robot, comprising:
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a drive configured to maneuver the autonomous mobile robot over a floor surface within an operating environment; a camera having a field of view in a drive direction of the autonomous mobile robot; a plurality of sensors configured to detect obstacles in the drive direction of the autonomous mobile robot; a frame buffer configured to store image frames obtained by the camera while the mobile robot is driving, the image frames corresponding to portions of the operating environment; a controller configured to generate a map of the operating environment and associate metadata with a respective image frame obtained by the camera, the metadata comprising a time and pose of the autonomous mobile robot when the respective image frame was captured; and a memory device configured to store a learned data set comprising a plurality of descriptors corresponding to pixel patches in the image frames, wherein one or more of the descriptors are determined based on sensor events indicative of the obstacles detected by the sensors. - 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 an autonomous mobile robot, the method comprising:
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maneuvering, by a drive system, the autonomous mobile robot over a floor surface within an operating environment; obtaining, by a camera having afield of view in a drive direction of the autonomous mobile robot, a plurality of image frames corresponding to portions of the operating environment; storing the image frames in a frame buffer; detecting, by a plurality of sensors, one or more obstacles in the drive direction of the autonomous mobile robot; generating, by a controller, a map of the operating environment and associating metadata with a respective image frame obtained by the camera, the metadata comprising a time and pose of the autonomous mobile robot when the respective image frame was captured; and storing, in a memory device, a learned data set comprising a plurality of descriptors corresponding to pixel patches in the image frames, wherein one or more of the descriptors are determined based on sensor events indicative of the obstacles detected by the sensors. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification