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Systems, methods, and industrial vehicles for determining the visibility of features

  • US 9,354,070 B2
  • Filed: 10/28/2014
  • Issued: 05/31/2016
  • Est. Priority Date: 10/31/2013
  • Status: Active Grant
First Claim
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1. An industrial vehicle comprising an Environmental Based Localization (EBL) sensor communicatively coupled to one or more processors, wherein the EBL sensor detects objects within a field of view and the one or more processors execute machine readable instructions to:

  • access a feature set and an occlusion set that are associated with an industrial facility, wherein the feature set represents objects within the industrial facility that are within the field of view of the EBL sensor and the occlusion set represents objects within the industrial facility that obstruct or prevent the EBL sensor from detecting objects within the field of view;

    provide a location of a sensor origin of the EBL sensor with respect to the industrial facility;

    determine an occlusion path that intersects a detectable occlusion of the occlusion set and the sensor origin of the EBL sensor;

    determine a feature intersection of the occlusion path, wherein the feature intersection is located on a detectable feature of the feature set or a projection of the detectable feature of the feature set;

    classify the detectable feature as an occluded detectable feature based at least in part upon the location of the feature intersection; and

    navigate the industrial vehicle through the industrial facility utilizing the feature set exclusive of the occluded detectable feature.

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