Method of accurate mapping with mobile robots
First Claim
1. A robotic mapping method, comprising:
- scanning at least one robot across a surface to be mapped, the scanning including a first scan and a second scan;
sensing locations of a plurality of points on the surface, a first set of the sensed point locations being sensed during the first scan, a second set of the sensed point locations being sensed during the second scan;
selecting a first pair of adjacent said sensed point locations from the first set, a first imaginary line segment joining the first pair of adjacent said sensed point locations having a first slope;
selecting a second pair of adjacent said sensed point locations from the second set, the first pair of adjacent sensed point locations having a position in a direction of the scanning that corresponds to a position of the second pair of adjacent sensed point locations in the direction of the scanning, a second imaginary line segment joining the second pair of adjacent said sensed point locations having a second slope; and
representing one of the first pair of adjacent sensed point locations in a map of the surface by an adjusted first sensed point location, a third imaginary line segment joining the adjusted first sensed point location and an other sensed point location of the first pair, the third imaginary line segment having a third slope, the third slope being closer to the second slope than is the first slope.
1 Assignment
0 Petitions
Accused Products
Abstract
A robotic mapping method includes scanning a robot across a surface to be mapped. Locations of a plurality of points on the surface are sensed during the scanning. A first of the sensed point locations is selected. A preceding subset of the sensed point locations is determined. The preceding subset is disposed before the first sensed point location along a path of the scanning. A following subset of the sensed point locations is determined. The following subset is disposed after the first sensed point location along the path of the scanning. The first sensed point location is represented in a map of the surface by an adjusted first sensed point location. The adjusted first sensed point location is closer to each of the preceding and following subsets of the sensed point locations than is the first sensed point location.
21 Citations
21 Claims
-
1. A robotic mapping method, comprising:
-
scanning at least one robot across a surface to be mapped, the scanning including a first scan and a second scan; sensing locations of a plurality of points on the surface, a first set of the sensed point locations being sensed during the first scan, a second set of the sensed point locations being sensed during the second scan; selecting a first pair of adjacent said sensed point locations from the first set, a first imaginary line segment joining the first pair of adjacent said sensed point locations having a first slope; selecting a second pair of adjacent said sensed point locations from the second set, the first pair of adjacent sensed point locations having a position in a direction of the scanning that corresponds to a position of the second pair of adjacent sensed point locations in the direction of the scanning, a second imaginary line segment joining the second pair of adjacent said sensed point locations having a second slope; and representing one of the first pair of adjacent sensed point locations in a map of the surface by an adjusted first sensed point location, a third imaginary line segment joining the adjusted first sensed point location and an other sensed point location of the first pair, the third imaginary line segment having a third slope, the third slope being closer to the second slope than is the first slope. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A robotic arrangement configured to perform the steps of:
-
scanning across a surface to be mapped, the scanning including a first scan and a second scan; sensing locations of a plurality of points on the surface, a first set of the sensed point locations being sensed during the first scan, a second set of the sensed point locations being sensed during the second scan; selecting a first pair of adjacent said sensed point locations from the first set, a first imaginary line segment joining the first pair of adjacent said sensed point locations having a first slope; selecting a second pair of adjacent said sensed point locations from the second set, the first pair of adjacent sensed point locations having a position in a direction of the scanning that corresponds to a position of the second pair of adjacent sensed point locations in the direction of the scanning, a second imaginary line segment joining the second pair of adjacent said sensed point locations having a second slope; and representing one of the first pair of adjacent sensed point locations in a map of the surface by an adjusted first sensed point location, a third imaginary line segment joining the adjusted first sensed point location and an other sensed point location of the first pair, the third imaginary line segment having a third slope, the third slope being closer to the second slope than is the first slope. - View Dependent Claims (8, 9, 10, 11, 12)
-
-
13. A computer readable medium including program instructions which when executed by at least one robot cause the at least one robot to perform the steps of:
-
scanning across a surface to be mapped, the scanning including a first scan and a second scan; sensing locations of a plurality of points on the surface, a first set of the sensed point locations being sensed during the first scan, a second set of the sensed point locations being sensed during the second scan; selecting a first pair of adjacent said sensed point locations from the first set, a first imaginary line segment joining the first pair of adjacent said sensed point locations having a first slope; selecting a second pair of adjacent said sensed point locations from the second set, the first pair of adjacent sensed point locations having a position in a direction of the scanning that corresponds to a position of the second pair of adjacent sensed point locations in the direction of the scanning, a second imaginary line segment joining the second pair of adjacent said sensed point locations having a second slope; and representing one of the first pair of adjacent sensed point locations in a map of the surface by an adjusted first sensed point location, a third imaginary line segment joining the adjusted first sensed point location and an other sensed point location of the first pair, the third imaginary line segment having a third slope, the third slope being closer to the second slope than is the first slope. - View Dependent Claims (14, 15, 16, 17, 18)
-
-
19. A robotic mapping method, comprising:
-
scanning at least one robot across a surface to be mapped, the scanning including a first scan and a second scan; sensing locations of a plurality of points on the surface, a first set of the sensed point locations being sensed during the first scan, a second set of the sensed point locations being sensed during the second scan; selecting a first pair of adjacent said sensed point locations from the first set, a first imaginary line segment joining the first pair of adjacent said sensed point locations; selecting a second pair of adjacent said sensed point locations from the second set, the first pair of adjacent sensed point locations having a position in a direction of the scanning that corresponds to a position of the second pair of adjacent sensed point locations in the direction of the scanning, a second imaginary line segment joining the second pair of adjacent said sensed point locations; and representing one of the first pair of adjacent sensed point locations in a map of the surface by an adjusted first sensed point location, a third imaginary line segment joining the adjusted first sensed point location and an other sensed point location of the first pair, the third imaginary line segment being closer to being parallel to the second imaginary line segment than is the first imaginary line segment. - View Dependent Claims (20, 21)
-
Specification