公开(公告)号：US11460854B1

公开(公告)日：2022-10-04

申请号：US16861025

申请日：2020-04-28

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Mark Adcock ,  Simon Edwards-Parton

IPC: G05D1/00 ,  G05D1/02

Abstract: An autonomous mobile device (AMD) moving in a physical space determines the presence of obstacles using images acquired by a stereocamera and avoids those obstacles. A floor with few visible features is difficult to characterize. The floor and any obstacles thereon may be difficult to characterize due to noise, perspective effect, and so forth. A score is determined that indicates whether a particular pixel in an image is deemed to be associated with a parallel surface (the floor) or a perpendicular surface (an obstacle). The score is computationally inexpensive to calculate and allows for highly accurate and low latency determinations as to the presence of an obstacle that would impede movement of the AMD. Orientation changes in the AMD, such as movement over a bumpy floor, are well tolerated as are floor features such as flooring transitions, ramps, and so forth which the AMD is able to traverse.

公开(公告)号：US11797022B1

公开(公告)日：2023-10-24

申请号：US17305013

申请日：2021-06-29

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： James Ballantyne ,  Eric Foxlin ,  Lu Xia ,  Simon Edwards-Parton ,  Boshen Niu ,  Harish Annavajjala

IPC: G05D1/00 ,  G05D1/02 ,  G06T7/593 ,  G06T7/12 ,  G06T7/521 ,  G06T7/13

CPC classification number: G05D1/0251 ,  G05D1/0088 ,  G05D1/0214 ,  G06T7/12 ,  G06T7/13 ,  G06T7/521 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: An autonomous mobile device (AMD) may move around a physical space while performing tasks. Sensor data is used to determine an occupancy map of the physical space. Some objects within the physical space may be difficult to detect because of characteristics that result in lower confidence in sensor data, such as transparent or reflective objects. To include difficult-to-detect objects in the occupancy map, image data is processed to identify portions of the image that includes features associated with difficult-to-detect objects. Given the portion that possibly includes difficult-to-detect objects, the AMD attempts to determine where in the physical space that portion corresponds to. For example, the AMD may use stereovision to determine the physical area associated with the features depicted in the portion. Objects in that area are included in an occupancy map annotated as objects that should persist unless confirmed to not be within the physical space.

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.