公开(公告)号：US11003188B2

公开(公告)日：2021-05-11

申请号：US16189593

申请日：2018-11-13

Applicant: Zebra Technologies Corporation

Inventor： Bradley M. Scott ,  Peter Arandorenko ,  Harsoveet Singh ,  Sadegh Tajeddin

IPC: G05D1/02 ,  G05D1/00 ,  G06K9/00 ,  G06T7/62 ,  G06T7/70

Abstract: A method of navigational path planning for a mobile automation apparatus includes: obtaining an apparatus localization in a common frame of reference and a localization confidence level; detecting an obstacle boundary by one or more apparatus sensors; obtaining an obstacle map indicating the obstacle boundary in the frame of reference; generating a dynamic perimeter region of the obstacle boundary defining obstruction probabilities for respective distances from the obstacle boundary according to the localization confidence level; obtaining an environmental map indicating a predefined obstacle boundary; generating, for the predefined obstacle boundary, a static perimeter region defining obstructed space; identifying an obstructed portion of the dynamic perimeter region based on the obstruction probabilities and the apparatus localization; generating a navigational path traversing unobstructed space, that excludes the obstructed portion of the dynamic perimeter region, and the static perimeter region; and controlling the apparatus to traverse the generated navigational path.

公开(公告)号：US10731970B2

公开(公告)日：2020-08-04

申请号：US16219679

申请日：2018-12-13

Applicant: Zebra Technologies Corporation

Inventor： Feng Cao ,  Harsoveet Singh

IPC: G01B11/22 ,  G01B11/25 ,  G06T7/521 ,  G01S17/89 ,  G06K9/32

Abstract: A method of detecting a support structure in a navigational controller includes: controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing the support structure on a ground plane; generating, for each of the depth measurements, a projected depth measurement on the ground plane; selecting a boundary set of the projected depth measurements defining a boundary of the projection; selecting, based on angles between adjacent pairs of the boundary set of projected depth measurements, a subset of the projected depth measurements; generating a region of interest based on the subset of the projected depth measurements; retrieving a candidate subset of the depth measurements corresponding to the projected depth measurements in the region of interest; and generating a support structure plane definition based on the candidate subset of depth measurements.