公开(公告)号：US11520332B1

公开(公告)日：2022-12-06

申请号：US16702008

申请日：2019-12-03

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： James Charles Zamiska ,  David Allen Fotland ,  Roger Robert Webster ,  Mohit Deshpande ,  Robert Franklin Ebert ,  Nikhil Sharma ,  Rachel Liao ,  Chang Young Kim

IPC: G05D1/00 ,  G01S17/931 ,  G05D1/02

Abstract: An autonomous mobile device (AMD) uses sensors to explore a physical space and determine the locations of obstacles. Simultaneous localization and mapping (SLAM) techniques are used by the AMD to designate as keyframes some images and their associated descriptors of features in the space. Each keyframe indicates a location and orientation of the AMD relative to those features. Anchors are specified relative to keyframes. A marker is specified relative to one or more anchors. Because markers are associated with features in the physical space, they maintain their association with the physical space through various processes such as SLAM loop closures. Markers may specify locations in the physical space, such as navigation waypoints, navigation destinations such as a goal pose for exploring an unexplored area, as an observation target to facilitate exploration, and so forth. Markers may also be used to specify block listed locations to be avoided during exploration.