METHOD AND APPARATUS FOR COMBINING DATA TO CONSTRUCT A FLOOR PLAN
First Claim
1. A method of perceiving a spatial model of a working environment, the method comprising:
- capturing data by one or more sensors of a robot moving within a working environment, the data being indicative of depth within the working environment from respective sensors of the robot to objects in the working environment at a plurality of different sensor poses;
obtaining, with one or more processors of the robot, a plurality of depth images based on the captured data, wherein;
respective depth images are based on data captured from different positions within the working environment through which the robot moves,respective depth images comprise a plurality of depth data, the depth data indicating distance from respective sensors to objects within the working environment at respective sensor poses, anddepth data of respective depth images correspond to respective fields of view;
aligning, with one or more processors of the robot, depth data of respective depth images based on an area of overlap between the fields of view of the plurality of depth images; and
determining, with one or more processors of the robot, based on alignment of the depth data, a spatial model of the working environment.
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Abstract
Provided is a method and apparatus for combining perceived depths to construct a floor plan using cameras, such as depth cameras. The camera(s) perceive depths from the camera(s) to objects within a first field of view. The camera(s) is rotated to observe a second field of view partly overlapping the first field of view. The camera(s) perceives depths from the camera(s) to objects within the second field of view. The depths from the first and second fields of view are compared to find the area of overlap between the two fields of view. The depths from the two fields of view are then merged at the area of overlap to create a segment of a floor plan. The method is repeated wherein depths are perceived within consecutively overlapping fields of view and are combined to construct a floor plan of the environment as the camera is rotated.
53 Citations
30 Claims
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1. A method of perceiving a spatial model of a working environment, the method comprising:
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capturing data by one or more sensors of a robot moving within a working environment, the data being indicative of depth within the working environment from respective sensors of the robot to objects in the working environment at a plurality of different sensor poses; obtaining, with one or more processors of the robot, a plurality of depth images based on the captured data, wherein; respective depth images are based on data captured from different positions within the working environment through which the robot moves, respective depth images comprise a plurality of depth data, the depth data indicating distance from respective sensors to objects within the working environment at respective sensor poses, and depth data of respective depth images correspond to respective fields of view; aligning, with one or more processors of the robot, depth data of respective depth images based on an area of overlap between the fields of view of the plurality of depth images; and determining, with one or more processors of the robot, based on alignment of the depth data, a spatial model of the working environment. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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2. The method of claiml, comprising:
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storing at least part of the spatial model of the working environment in memory of the robot; determining, with one or more processors of the robot, a path of the robot based on the at least part of the spatial model of the working environment; and controlling, with one or more processors of the robot, an actuator of the robot to cause the robot to move along the determined path.
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20. A robot, comprising:
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an actuator configured to move a robot through a working environment; one or more sensors mechanically coupled to the robot; one or more processors configured to receive sensed data from the one or more sensors and control the actuator; and memory storing instructions that when executed by at least some of the processors effectuate operations comprising; capturing data by one or more sensors of a robot moving within the working environment, the data being indicative of depth within the working environment from respective sensors of the robot to objects in the working environment at a plurality of different sensor poses; obtaining a plurality of depth images based on the captured data, wherein; respective depth images are based on data captured from different positions within the working environment through which the robot moves, respective depth images comprise a plurality of depth data, the depth data indicating distance from respective sensors to objects within the working environment at respective sensor poses, and depth data of respective depth images correspond to respective fields of view; aligning depth data of respective depth images based on an area of overlap between the fields of view of the plurality of depth images; and determining, based on alignment of the depth data, a spatial model of the working environment.
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21. A method for constructing a floor plan using at least one camera, the method comprising:
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perceiving depths from the at least one camera to objects within a first field of view, such that a depth is recorded for specified angles within the first field of view; moving the at least one camera; perceiving depths from the at least one camera to objects within a second field of view, such that a depth is recorded for specified angles within the second field of view; comparing, with one or more processors, depths from the first field of view to depths from the second field of view; identifying, with one or more processors, an area of overlap between the depths from the first field of view and the second field of view when a number of consecutive depths from the first field of view and second field of view are similar to a specified tolerance range; and combining depths from the first field of view with depths from the second field of view at the identified area of overlap to generate combined fields of view. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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Specification