公开(公告)号：US11927963B2

公开(公告)日：2024-03-12

申请号：US17207039

申请日：2021-03-19

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Shreekant Gayaka ,  Boshen Niu ,  Simon Edwards-Parton

IPC: G06F17/10 ,  G01C21/20 ,  G05D1/00 ,  G06T7/246 ,  G06T7/60 ,  G06T7/73 ,  G06V20/56 ,  G10L15/08 ,  G10L15/22 ,  H04R1/32 ,  H04R3/00

CPC classification number: G05D1/0214 ,  G01C21/206 ,  G05D1/0088 ,  G05D1/0238 ,  G06T7/248 ,  G06T7/60 ,  G06T7/74 ,  G06V20/56 ,  G10L15/08 ,  G10L15/22 ,  H04R1/326 ,  H04R3/005 ,  G06T2207/10028 ,  G06T2207/30241 ,  G06T2207/30252 ,  G10L2015/088

Abstract: A physical space contains stationary objects that do not move over time (e.g., a couch) and may have non-stationary objects that do move over time (e.g., people and pets). An autonomous mobile device (AMD) determines and uses an occupancy map of stationary objects to find a route from one point to another in a physical space. Non-stationary objects are detected and prevented from being incorrectly added to the occupancy map. Point cloud data is processed to determine first candidate objects. Image data is processed to determine second candidate objects. These candidate objects are associated with each other and their characteristics assessed to determine if the candidate objects are stationary or non-stationary. The occupancy map is updated with stationary obstacles. During navigation, the occupancy map may be used for route planning while the non-stationary objects are used for local avoidance.

公开(公告)号：US11810345B1

公开(公告)日：2023-11-07

申请号：US17449898

申请日：2021-10-04

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Shreekant Gayaka ,  Menghan Zhang

IPC: G06V20/10 ,  G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  G06V10/94 ,  G06V10/98 ,  G06V40/10 ,  G06V40/16

CPC classification number: G06V20/10 ,  G05D1/0088 ,  G05D1/0251 ,  G06T7/70 ,  G06V10/95 ,  G06V10/98 ,  G06V40/10 ,  G06V40/161 ,  G06T2207/20084 ,  G06T2207/30201

Abstract: An autonomous mobile device (AMD) that interacts with a user operates more effectively with reliable information about that user's pose. Occlusion due to obstacles or sensor field-of-view limits may prevent a sensor from “seeing” a user's torso or lower body while the face may remain visible. Face orientation alone produces unreliable results because a user frequently moves their head. Sensor data is acquired over time and used to determine face and body poses, with each pose representing a location and orientation in physical space of that portion of the user. A transform is determined that represents the relative arrangement of a face pose and a body pose at a particular time. If available, the body pose may be used as the user's pose. If the body pose is unavailable or unreliable at a given time, it may be inferred by applying the previously determined transform to the current face pose.

公开(公告)号：US12145626B1

公开(公告)日：2024-11-19

申请号：US17452490

申请日：2021-10-27

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Shreekant Gayaka ,  Menghan Zhang

IPC: B60W60/00 ,  G05D1/00 ,  G06T7/246 ,  G06T7/73 ,  G06V20/10 ,  G06V40/10

Abstract: An autonomous mobile device (AMD) that interacts with a user operates more effectively when able to persist an entity identifier across time with a particular user. Sensor data, such as a set of image frames, is acquired over time and used to determine locations of the user in the physical space. An entity identifier may be associated with the user as depicted in each frame, to allow the AMD to distinguish one user from another. However, due to changes in orientation, appearance, lighting, and so forth, different entity identifiers may be assigned across different frames, even though the user is the same. Information about the location at different times is used to establish a relationship between a root entity identifier and the entity identifiers in individual frames, allowing for consistent operation with respect to the particular user associated with the root entity identifier.

公开(公告)号：US12298782B1

公开(公告)日：2025-05-13

申请号：US17655268

申请日：2022-03-17

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Shreekant Gayaka

IPC: G05D1/246 ,  G05D109/10 ,  G06F18/2325 ,  G06F18/25

Abstract: A physical space includes obstacles with different characteristics. Different sensors may detect some obstacles well, while other obstacles are poorly detected. An autonomous mobile device (AMD) uses data from various sensors to determine information about the physical space that is expressed in layers. Each layer represents specified areas within at least a portion of the physical space, with each area having a value representative of whether an obstacle is present. Some layers may represent specific volumes, or height ranges. For example, different layers may represent a low height, a medium height, and a high height. Aggregated data may be determined using the values from multiple layers. The aggregated data may be calculated using an aggregation profile to specify a relative weighting for the values in a particular layer. The aggregated data may then be processed to determine maps, such as a navigation map for autonomous movement, floorplan, and so forth.