Detecting Sensor Orientation Characteristics Using Marker-Based Localization
First Claim
1. A method comprising:
- receiving a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane;
receiving, from a sensor configured to scan a two-dimensional sensor plane, sensor data indicative of positions of the first and second markers relative to the sensor;
determining measured positions of the first and second markers relative to the map based on the sensor data and a current position of the sensor relative to the map;
determining a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers;
determining, based on the determined difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane;
detecting, based on the determined orientation of the two-dimensional sensor plane relative to the horizontal marker plane, an uneven ground surface; and
navigating a robotic device based on detecting the uneven ground surface.
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Accused Products
Abstract
Methods and systems for detecting sensor orientation characteristics using marker-based localization are disclosed herein. In one aspect, a robotic device can: receive a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane; receive, from a sensor configured to scan a two-dimensional sensor plane, sensor data indicative of positions of the first and second markers relative to the sensor; determine measured positions of the first and second markers based on the sensor data and a current position of the sensor; determine a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; and determine, based on the difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane.
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Citations
20 Claims
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1. A method comprising:
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receiving a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane; receiving, from a sensor configured to scan a two-dimensional sensor plane, sensor data indicative of positions of the first and second markers relative to the sensor; determining measured positions of the first and second markers relative to the map based on the sensor data and a current position of the sensor relative to the map; determining a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; determining, based on the determined difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane; detecting, based on the determined orientation of the two-dimensional sensor plane relative to the horizontal marker plane, an uneven ground surface; and navigating a robotic device based on detecting the uneven ground surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A robotic device comprising:
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a sensor configured to scan a two-dimensional sensor plane; and a control system configured to; receive a map of a horizontal marker plane that includes mapped positions of a first marker and a second marker arranged in the horizontal marker plane; receive, from the sensor, sensor data indicative of positions of the first and second markers relative to the sensor; determine measured positions of the first and second markers relative to the map based on the sensor data and a current position of the sensor relative to the map; determine a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; determine, based on the determined difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane; detect, based on the determined orientation of the two-dimensional sensor plane relative to the horizontal marker plane, an uneven ground surface; and navigate based on detecting the uneven ground surface. - View Dependent Claims (14, 15, 16, 17)
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18. A system comprising:
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a first marker and a second marker arranged in a horizontal marker plane; a robotic device comprising a sensor configured to scan a two-dimensional sensor plane; and a control system configured to; receive a map of a horizontal marker plane that includes mapped positions of the first marker and the second marker arranged in the horizontal marker plane; receive, from the sensor, sensor data indicative of positions of the first and second markers relative to the sensor; determine measured positions of the first and second markers relative to the map based on the sensor data and a current position of the sensor relative to the map; determine a difference vector between a first vector that connects the mapped positions of the first and second markers and a second vector that connects the measured positions of the first and second markers; determine, based on the determined difference vector, an orientation of the two-dimensional sensor plane relative to the horizontal marker plane; detect, based on the determined orientation of the two-dimensional sensor plane relative to the horizontal marker plane, an uneven ground surface; and cause the robotic device to navigate based on detecting the uneven ground surface. - View Dependent Claims (19, 20)
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Specification