Fast open doorway detection for autonomous robot exploration
First Claim
1. A system for open doorway detection for autonomous robot exploration, the system comprising:
- an onboard range sensor, the range sensor operable for constructing a three-dimensional (3D) point cloud of a scene;
one or more processors and a memory, the memory being a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of;
receiving a 3D point cloud from the range sensor, the 3D point cloud having a plurality of cloud points;
filtering and downsampling the 3D point cloud to remove cloud points outside of a predefined range and reduce a size of the point cloud and, in doing so, generating a filtered and downsampled 3D point cloud;
extracting vertical planes from the filtered and downsampled 3D point cloud; and
identifying open doorways from each extracted vertical plane.
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Accused Products
Abstract
Described is a system for open doorway detection for autonomous robot exploration, the system includes an onboard range sensor that is operable for constructing a three-dimensional (3D) point cloud of a scene. One or more processors that receive the 3D point cloud from the range sensor. The 3D point cloud is then filtered and downsampled to remove cloud points outside of a predefined range and reduce a size of the point cloud and, in doing so, generate a filtered and downsampled 3D point cloud. Vertical planes are extracted from the filtered and downsampled 3D point cloud. Finally, open doorways are identified from each extracted vertical plane.
33 Citations
12 Claims
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1. A system for open doorway detection for autonomous robot exploration, the system comprising:
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an onboard range sensor, the range sensor operable for constructing a three-dimensional (3D) point cloud of a scene; one or more processors and a memory, the memory being a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of; receiving a 3D point cloud from the range sensor, the 3D point cloud having a plurality of cloud points; filtering and downsampling the 3D point cloud to remove cloud points outside of a predefined range and reduce a size of the point cloud and, in doing so, generating a filtered and downsampled 3D point cloud; extracting vertical planes from the filtered and downsampled 3D point cloud; and identifying open doorways from each extracted vertical plane. - View Dependent Claims (2, 3, 4)
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5. A computer program product for open doorway detection for autonomous robot exploration, the computer program product comprising computer-readable instructions stored on a non-transitory computer-readable medium that are executable by a computer having one or more processors, such that upon execution of the instructions, the one or more processors perform operations of:
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receiving a three-dimensional (3D) point cloud from an onboard range sensor, the 3D point cloud having a plurality of cloud points; filtering and downsampling the 3D point cloud to remove cloud points outside of a predefined range and reduce a size of the point cloud and, in doing so, generating a filtered and downsampled 3D point cloud; extracting vertical planes from the filtered and downsampled 3D point cloud; and identifying open doorways from each extracted vertical plane. - View Dependent Claims (6, 7, 8)
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9. A method for open doorway detection for autonomous robot exploration, the method comprising an act of:
executing computer-readable instructions stored on a non-transitory computer-readable medium, such that upon execution of the instructions, one or more processors perform operations of; receiving a three-dimensional (3D) point cloud from an onboard range sensor, the 3D point cloud having a plurality of cloud points; filtering and downsampling the 3D point cloud to remove cloud points outside of a predefined range and reduce a size of the point cloud and, in doing so, generating a filtered and downsampled 3D point cloud; extracting vertical planes from the filtered and downsampled 3D point cloud; and identifying open doorways from each extracted vertical plane. - View Dependent Claims (10, 11, 12)
Specification