Systems and methods for performing simultaneous localization and mapping using machine vision systems
First Claim
1. A mobile robot configured to navigate an operating environment, comprising:
- a body having a top surface;
a drive mounted to the body;
a recessed structure beneath the plane of the top surface near a geometric center of the body;
a controller circuit in communication with the drive, wherein the controller circuit directs the drive to navigate the mobile robot through an environment using camera-based navigation system; and
a camera including optics defining a camera field of view and a camera optical axis, wherein;
the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of 30-40 degrees above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body,the field of view of the camera spans a frustum of 45-65 degrees in the vertical direction, andthe camera is configured to capture images of the operating environment of the mobile robot.
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Abstract
The present invention provides a mobile robot configured to navigate an operating environment, that includes a controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.
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Citations
20 Claims
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1. A mobile robot configured to navigate an operating environment, comprising:
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a body having a top surface; a drive mounted to the body; a recessed structure beneath the plane of the top surface near a geometric center of the body; a controller circuit in communication with the drive, wherein the controller circuit directs the drive to navigate the mobile robot through an environment using camera-based navigation system; and a camera including optics defining a camera field of view and a camera optical axis, wherein; the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of 30-40 degrees above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, the field of view of the camera spans a frustum of 45-65 degrees in the vertical direction, and the camera is configured to capture images of the operating environment of the mobile robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A mobile robot configured to navigate an operating environment, comprising:
a body that comprises a top surface located at a height not more than 6 inches from a bottom surface, the body comprising a recessed structure under the top surface, the body containing; at least one processor; memory containing a behavioral controller application, where the behavioral controller application directs a processor to navigate an environment based on the captured images; a machine vision sensor system comprising a camera configured to capture images of the operating environment of the mobile robot, the camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the optical axis is aligned at an acute angle between 10 and 60 degrees above a forward drive direction of motion of the mobile robot. - View Dependent Claims (20)
Specification