Carpet drift estimation using differential sensors or visual measurements
First Claim
1. A robotic device comprising:
- a camera;
an actuator system configured to move the robotic device across a surface, the actuator system comprising;
a plurality of left wheels interconnected by a left track, anda plurality of right wheels interconnected by a right track; and
a controller coupled to the camera, wherein the controller is configured to;
extract features from two or more images captured by the camera;
match extracted features from the two or more images;
generate visual observations of motion based on a motion of matching extracted features relative to the two or more images;
estimate drift based at least on the visual observations of motion;
determine, from the estimated drift, whether the surface is carpeted or non-carpeted;
in response to determination that the surface is carpeted, generate a carpet drift vector based at least on the visual observations of motion;
generate commands, using the carpet drift vector, configured to compensate for carpet drift; and
send the generated commands to the actuator system to compensate for the carpet drift.
4 Assignments
0 Petitions
Accused Products
Abstract
Apparatus and methods for carpet drift estimation are disclosed. In certain implementations, a robotic device includes an actuator system to move the body across a surface. A first set of sensors can sense an actuation characteristic of the actuator system. For example, the first set of sensors can include odometry sensors for sensing wheel rotations of the actuator system. A second set of sensors can sense a motion characteristic of the body. The first set of sensors may be a different type of sensor than the second set of sensors. A controller can estimate carpet drift based at least on the actuation characteristic sensed by the first set of sensors and the motion characteristic sensed by the second set of sensors.
-
Citations
15 Claims
-
1. A robotic device comprising:
-
a camera; an actuator system configured to move the robotic device across a surface, the actuator system comprising; a plurality of left wheels interconnected by a left track, and a plurality of right wheels interconnected by a right track; and a controller coupled to the camera, wherein the controller is configured to; extract features from two or more images captured by the camera; match extracted features from the two or more images; generate visual observations of motion based on a motion of matching extracted features relative to the two or more images; estimate drift based at least on the visual observations of motion; determine, from the estimated drift, whether the surface is carpeted or non-carpeted; in response to determination that the surface is carpeted, generate a carpet drift vector based at least on the visual observations of motion; generate commands, using the carpet drift vector, configured to compensate for carpet drift; and send the generated commands to the actuator system to compensate for the carpet drift. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A-robotic device comprising:
-
an imaging sensor; an actuator system configured to move the robotic device across a surface, the actuator system comprising; a plurality of left wheels interconnected by a left track, and a plurality of right wheels interconnected by a right track; and a controller communicatively coupled to the imaging sensor, wherein the controller is configured to; extract features from two or more images captured by the imaging sensor; match extracted features from the two or more images; generate visual observations of motion based on a motion of matching extracted features relative to the two or more images; estimate drift based at least on the visual observations of motion; determine, from the estimated drift, whether the surface is carpeted or non-carpeted; in response to determination that the surface is carpeted, generate a drift vector based at least on the visual observations of motion; generate commands, using the drift vector, configured to compensate for the estimated drift; and send the generated commands to the actuator system to compensate for the estimated drift. - View Dependent Claims (10, 11, 12, 13, 14, 15)
-
Specification