Mobile robot location determination employing error-correcting distributed landmarks
First Claim
1. A method, using at least one landmark within a predetermined space, each landmark displaying a pseudo-random-checkerboard pattern on a plane, with the pseudo-random-checkerboard pattern having a first plurality of rectangular cells, for determining a location of an autonomous vehicle, comprising:
- imaging at least one pseudo-random-checkerboard pattern;
generating, in response to imaging the pseudo-random-checkerboard pattern, a signal;
orienting a camera relative to the autonomous vehicle; and
determining, in response to the signal and to camera orientation, a position and an orientation of the autonomous vehicle.
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Accused Products
Abstract
An apparatus and method are disclosed for using specially designed landmarks to provide the position and orientation in three dimensions of an autonomous vehicle, such as a mobile robot. The landmarks are checkerboards of rectangular cells of contrasting colors that are arranged to create a pseudo-random pattern. The autonomous vehicle carries a recognition and measurement unit, for example including a camera and a digital computer that processes the output of the camera. A map stored in the recognition and measurement unit describes the position, orientation and dimensions of each pseudo-random checkerboard pattern. The recognition and measurement unit processes the image of a pseudo-random checkerboard pattern to identify the landmark on which the pattern is displayed and to calculate the position and orientation of the autonomous vehicle. The pseudo-randomness of each checkerboard pattern enables determination of the position and orientation determination of the autonomous vehicle even if partial errors are made in visual interpretation of the landmark.
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Citations
23 Claims
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1. A method, using at least one landmark within a predetermined space, each landmark displaying a pseudo-random-checkerboard pattern on a plane, with the pseudo-random-checkerboard pattern having a first plurality of rectangular cells, for determining a location of an autonomous vehicle, comprising:
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imaging at least one pseudo-random-checkerboard pattern; generating, in response to imaging the pseudo-random-checkerboard pattern, a signal; orienting a camera relative to the autonomous vehicle; and determining, in response to the signal and to camera orientation, a position and an orientation of the autonomous vehicle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus for determining a location of an autonomous vehicle, comprising:
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at least one landmark within a first predetermined space, each landmark displaying a pseudo-random-checkerboard pattern on a plane; camera means for imaging at least one pseudo-random-checkerboard pattern and for generating, responsive to the imaged pseudo-random-checkerboard pattern, a signal; relational means for orienting the camera means relative to the autonomous vehicle; and locating means, responsive to the signal and to the relational means, for determining a position and an orientation of the autonomous vehicle. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A method for manufacturing an apparatus for determining the location of an autonomous vehicle, comprising:
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placing at least one landmark within a predetermined space, each landmark having a plane; displaying on the plane of each landmark a pseudo-random-checkerboard pattern; equipping the autonomous vehicle with; a camera for imaging at least one pseudo-random checkerboard pattern and for generating, in response to the imaged pseudo-random-checkerboard pattern, a signal; relational means for orienting the camera relative to the autonomous vehicle; and locating means, responsive to the signal and the relational means, for determining a position and an orientation of the autonomous vehicle.
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Specification