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Object placement verification

  • US 10,108,194 B1
  • Filed: 09/02/2016
  • Issued: 10/23/2018
  • Est. Priority Date: 09/02/2016
  • Status: Active Grant
First Claim
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1. A method comprising:

  • determining, by a control system of a vehicle, a target location for an object carried by the vehicle;

    determining, by the control system, a plurality of points defining a boundary of a volume to be occupied by the object at the target location, wherein the plurality of points are scannable in a sequence by a sensor on the vehicle to produce a scan of the volume;

    determining, by the control system, a respective field of visibility to each respective point of the plurality of points, wherein the respective field of visibility defines a region of space extending from the respective point such that the respective point is unobstructed to the sensor when the sensor is positioned within the region of space;

    determining, by the control system, a path for the vehicle to follow to the target location, wherein the respective field of visibility intersects with a respective portion of the determined path such that each respective point of the plurality of points is observable by the sensor along at least a section of the respective portion of the determined path as the vehicle moves along the determined path to the target location; and

    causing, by the control system, the vehicle to follow the determined path to the target location.

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