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公开(公告)号：US20230143315A1
公开(公告)日：2023-05-11
申请号：US18149588
申请日：2023-01-03
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether
IPC: G06V20/10 , G05D1/10 , B62D57/02 , G06V10/44 , G06F18/243 , G06V10/764
CPC classification number: G06V20/10 , G05D1/10 , B62D57/02 , G06V10/44 , G06F18/243 , G06V10/764
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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公开(公告)号：US11660752B2
公开(公告)日：2023-05-30
申请号：US17305522
申请日：2021-07-09
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether , Gina Christine Fay , Benjamin Swilling
IPC: G06F17/00 , B25J9/16 , B62D57/024 , B62D57/032
CPC classification number: B25J9/1666 , B62D57/024 , B62D57/032
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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Patent Agency Ranking
公开(公告)号：US20220388170A1
公开(公告)日：2022-12-08
申请号：US17805005
申请日：2022-06-01
Applicant: Boston Dynamics, Inc.
Inventor： Gene Brown Merewether
Abstract: A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations including obtaining a topological map including waypoints and edges. Each edge connects adjacent waypoints. The waypoints and edges represent a navigation route for the robot to follow. Operations include determining, that an edge that connects first and second waypoints is blocked by an obstacle. Operations include generating, using image data and the topological map, one or more alternate waypoints offset from one of the waypoints. For each alternate waypoint, operations include generating an alternate edge connecting the alternate waypoint to a waypoint. Operations include adjusting the navigation route to include at least one alternate waypoint and alternate edge that bypass the obstacle. Operations include navigating the robot from the first waypoint to an alternate waypoint along the alternate edge connecting the alternate waypoint to the first waypoint.
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公开(公告)号：US11599128B2
公开(公告)日：2023-03-07
申请号：US16877721
申请日：2020-05-19
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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公开(公告)号：US20210333804A1
公开(公告)日：2021-10-28
申请号：US16877721
申请日：2020-05-19
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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公开(公告)号：US20210331317A1
公开(公告)日：2021-10-28
申请号：US17305522
申请日：2021-07-09
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether , Gina Christine Fay , Benjamin Swilling
IPC: B25J9/16 , B62D57/024 , B62D57/032
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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公开(公告)号：US11073842B1
公开(公告)日：2021-07-27
申请号：US17157500
申请日：2021-01-25
Applicant: Boston Dynamics, Inc.
Inventor： Eric Cary Whitman , Gene Brown Merewether
Abstract: A method for perception and fitting for a stair tracker includes receiving sensor data for a robot adjacent to a staircase. For each stair of the staircase, the method includes detecting, at a first time step, an edge of a respective stair of the staircase based on the sensor data. The method also includes determining whether the detected edge is a most likely step edge candidate by comparing the detected edge from the first time step to an alternative detected edge at a second time step, the second time step occurring after the first time step. When the detected edge is the most likely step edge candidate, the method includes defining, by the data processing hardware, a height of the respective stair based on sensor data height about the detected edge. The method also includes generating a staircase model including stairs with respective edges at the respective defined heights.
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