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Method of accurate mapping with mobile robots

  • US 8,340,818 B2
  • Filed: 04/24/2009
  • Issued: 12/25/2012
  • Est. Priority Date: 04/24/2009
  • Status: Active Grant
First Claim
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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.

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