Industrial vehicles with point fix based localization
First Claim
1. An industrial vehicle comprising a camera and one or more processors, wherein:
- the camera is communicatively coupled to the one or more processors;
the camera is mounted to the industrial vehicle and focused to a ceiling of a warehouse;
the camera captures an input image of ceiling lights of the ceiling of the warehouse; and
the one or more processors execute machine readable instructions toprovide a centerline of a row of ceiling light features in the captured input image by extracting raw feature components belonging to a class of ceiling lights from the captured input image as classified ceiling light features, associating the classified ceiling light features with separate ceiling lights, extracting ceiling light features from the raw feature components, filtering out ceiling light features not usable for determining the centerline, and determining the centerline from the remaining ceiling light features,determine ceiling light corners by extracting raw feature components belonging to a class of ceiling lights from the captured input image as classified ceiling light features, selecting a usable portion of the ceiling lights for determining ceiling light corners, extracting ceiling light features from the raw feature components, filtering ceiling light features as usable or unusable for determining the ceiling light corners, determining the ceiling light corners from the remaining ceiling light features,select a set of point fixes from the ceiling light corners, andnavigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes.
1 Assignment
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Accused Products
Abstract
According to the embodiments described herein, an industrial vehicle can include a camera and one or more processors. The camera can capture an input image of ceiling lights of the ceiling of the warehouse. The one or more processors can execute machine readable instructions to detect transversal edges from the ceiling lights of the input image. The machine readable instructions executed by the one or more processors can determine points of convergence between the transversal edges and a first edge line and a second edge line. The machine readable instructions executed by the one or more processors can select a set of point fixes from the points of convergence. The machine readable instructions executed by the one or more processors can navigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes.
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Citations
20 Claims
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1. An industrial vehicle comprising a camera and one or more processors, wherein:
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the camera is communicatively coupled to the one or more processors; the camera is mounted to the industrial vehicle and focused to a ceiling of a warehouse; the camera captures an input image of ceiling lights of the ceiling of the warehouse; and the one or more processors execute machine readable instructions to provide a centerline of a row of ceiling light features in the captured input image by extracting raw feature components belonging to a class of ceiling lights from the captured input image as classified ceiling light features, associating the classified ceiling light features with separate ceiling lights, extracting ceiling light features from the raw feature components, filtering out ceiling light features not usable for determining the centerline, and determining the centerline from the remaining ceiling light features, determine ceiling light corners by extracting raw feature components belonging to a class of ceiling lights from the captured input image as classified ceiling light features, selecting a usable portion of the ceiling lights for determining ceiling light corners, extracting ceiling light features from the raw feature components, filtering ceiling light features as usable or unusable for determining the ceiling light corners, determining the ceiling light corners from the remaining ceiling light features, select a set of point fixes from the ceiling light corners, and navigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for navigating an industrial vehicle comprising a camera and one or more processors, the method comprising:
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capturing an input image of ceiling lights of a ceiling of a warehouse, wherein the input image is captured with the camera coupled to an industrial vehicle; focusing the camera mounted to the industrial vehicle to a ceiling of the warehouse; capturing an input image of the ceiling lights of the ceiling of the warehouse; executing machine readable instructions with the one or more processors; determining a centerline of a row of ceiling light features in of captured input image by extracting raw feature components belonging to a class of ceiling lights from the captured input image as classified ceiling light features, associating the classified ceiling light features with separate ceiling lights, extracting ceiling light features from the raw feature components, filtering out ceiling light features not usable for determining the centerline, and determining the centerline from the remaining ceiling light features; determining ceiling light corners by extracting raw feature components belonging to a class of ceiling lights from the captured input image as classified ceiling light features, selecting a usable portion of the ceiling lights for determining ceiling light corners, extracting ceiling light features from the raw feature components, filtering ceiling light features as usable or unusable for determining the ceiling light corners, determining the ceiling light corners from the remaining ceiling light features; selecting a set of point fixes from the ceiling light corners; and navigating the industrial vehicle through the warehouse utilizing the pose, the position, or both. - View Dependent Claims (14, 15, 16, 17, 18)
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19. An industrial vehicle comprising a camera and one or more processors, wherein:
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the camera is communicatively coupled to the one or more processors; the camera is mounted to the industrial vehicle and focused to a ceiling of a warehouse; the camera captures an input image of ceiling lights of the ceiling of the warehouse; and the one or more processors execute machine readable instructions to determine a centerline of a row of ceiling lights from a row of ceiling light features in the captured input image by extracting raw feature components from the captured input image, separating the extracted raw feature components into different classes of ceiling lights, extracting ceiling light features from the extracted raw feature components based on the ceiling light class into which the extracted raw feature components are separated, filtering out selected ones of the extracted ceiling light features not usable for determining the centerline, and determining the centerline from the filtered ceiling light features, determine ceiling light corners by extracting raw feature components from the captured input image, selecting a usable portion of the ceiling lights for determining ceiling light corners, extracting ceiling light features from the extracted raw feature components in the usable portion of the ceiling lights, filtering out selected ones of the extracted ceiling light features not usable for determining the ceiling light corners, determining the ceiling light corners from the filtered ceiling light features, select a set of point fixes from the ceiling light corners, and navigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes.
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20. A method for navigating an industrial vehicle comprising a camera and one or more processors, wherein the camera is communicatively coupled to the one or more processors, is mounted to the industrial vehicle, and is focused to a ceiling of a warehouse, and the method comprises:
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using the camera to capture an input image of ceiling lights of the ceiling of a warehouse; and executing machine readable instructions with the one or more processors to determine a centerline of a row of ceiling lights from a row of ceiling light features in the captured input image by extracting raw feature components from the captured input image, separating the extracted raw feature components into different classes of ceiling lights, extracting ceiling light features from the extracted raw feature components based on the ceiling light class into which the extracted raw feature components are separated, filtering out selected ones of the extracted ceiling light features not usable for determining the centerline, and determining the centerline from the filtered ceiling light features, determine ceiling light corners by extracting raw feature components from the captured input image, selecting a usable portion of the ceiling lights for determining ceiling light corners, extracting ceiling light features from the extracted raw feature components in the usable portion of the ceiling lights, filtering out selected ones of the extracted ceiling light features not usable for determining the ceiling light corners, determining the ceiling light corners from the filtered ceiling light features, select a set of point fixes from the ceiling light corners, and navigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes.
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Specification