Systems and methods for performing occlusion detection
First Claim
Patent Images
1. A mobile robot configured to navigate an operating environment, comprising:
- a machine vision sensor system comprising a camera;
an indicator light;
at least one processor; and
a memory comprising computer readable program code stored in a non-transitory medium, the computer readable program code comprising a simultaneous localization and mapping (SLAM) application and a behavioral control application, wherein, when executed by the at least one processor, the computer readable program code causes the at least one processor to;
capture images of the operating environment of the mobile robot using the machine vision sensor system;
detect a presence of an occlusion obstructing a portion of a field of view of the camera based on the images captured using the machine vision sensor system; and
illuminate the indicator light responsive to detection of the presence of the occlusion obstructing the portion of the field of view of the camera.
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Abstract
The present invention provides a mobile robot configured to navigate an operating environment, that includes a machine vision system comprising a camera that captures images of the operating environment using a machine vision system; detects the presence of an occlusion obstructing a portion of the field of view of a camera based on the captured images, and generate a notification when an occlusion obstructing the portion of the field of view of the camera is detected, and maintain occlusion detection data describing occluded and unobstructed portions of images being used by the SLAM application.
100 Citations
20 Claims
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1. A mobile robot configured to navigate an operating environment, comprising:
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a machine vision sensor system comprising a camera; an indicator light; at least one processor; and a memory comprising computer readable program code stored in a non-transitory medium, the computer readable program code comprising a simultaneous localization and mapping (SLAM) application and a behavioral control application, wherein, when executed by the at least one processor, the computer readable program code causes the at least one processor to; capture images of the operating environment of the mobile robot using the machine vision sensor system; detect a presence of an occlusion obstructing a portion of a field of view of the camera based on the images captured using the machine vision sensor system; and illuminate the indicator light responsive to detection of the presence of the occlusion obstructing the portion of the field of view of the camera. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of operating a mobile robot, the method comprising:
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executing, by at least one processor of the mobile robot, computer readable program code stored in a non-transitory medium, the computer readable program code comprising a simultaneous localization and mapping (SLAM) application and a behavioral control application, wherein the executing of the computer readable program code causes the at least one processor to perform operations comprising; capturing images of an operating environment of the mobile robot using a machine vision sensor system comprising a camera of the mobile robot; detecting a presence of an occlusion obstructing a portion of a field of view of the camera based on the images captured using the machine vision sensor system; and illuminating an indicator light of the mobile robot responsive to detection of the presence of the occlusion obstructing the portion of the field of view of the camera. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A mobile robot configured to navigate an operating environment, comprising:
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a body containing; a drive mechanism; an indicator light; an odometry sensor system configured to capture odometry data; a machine vision sensor system comprising a camera configured to capture images of the operating environment; at least one processor; and a memory comprising computer readable program code stored in a non-transitory medium, the computer readable program code comprising a visual simultaneous localization and mapping (VSLAM) application and a behavioral control application, wherein, when executed by the at least one processor, the computer readable program code causes the at least one processor to; detect a presence of an occlusion obstructing a portion of a field of view of the camera based on the images captured by the machine vision sensor system; flash the indicator light responsive to detection of the presence of the occlusion obstructing the portion of the field of view of the camera; and localize the mobile robot within the operating environment based on the odometry data captured by the odometry sensor system responsive to insufficient feature detection by the machine vision sensor system.
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Specification