公开(公告)号：US11233937B1

公开(公告)日：2022-01-25

申请号：US16583587

申请日：2019-09-26

Applicant: Amazon Technologies, Inc.

Inventor： Amy Solenberg ,  Sitaram Baldwa ,  Raymond Zhang

IPC: H04N5/232 ,  H04N19/105 ,  H04N19/423 ,  H04N19/172 ,  H04N19/137

Abstract: An autonomously motile device is capable of capturing image data, such as panoramic images, as it moves to different locations in an environment. It selects the locations at which to capture the image data by determining, for each of a plurality of grid units in a map of the environment, a number of grid points that are unobstructed by a wall or object surrounding the point. It then selects a number of locations having the greatest number of viewable grid points.