PERCEPTION AND FITTING FOR A STAIR TRACKER
    1.
    发明公开

    公开(公告)号:US20230143315A1

    公开(公告)日:2023-05-11

    申请号:US18149588

    申请日:2023-01-03

    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.

    Perception and fitting for a stair tracker

    公开(公告)号:US11660752B2

    公开(公告)日:2023-05-30

    申请号:US17305522

    申请日:2021-07-09

    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.

    Alternate Route Finding for Waypoint-based Navigation Maps

    公开(公告)号:US20220388170A1

    公开(公告)日:2022-12-08

    申请号:US17805005

    申请日:2022-06-01

    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.

    Perception and fitting for a stair tracker

    公开(公告)号:US11599128B2

    公开(公告)日:2023-03-07

    申请号:US16877721

    申请日:2020-05-19

    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.

    Perception and Fitting for a Stair Tracker

    公开(公告)号:US20210333804A1

    公开(公告)日:2021-10-28

    申请号:US16877721

    申请日:2020-05-19

    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.

    Perception and Fitting for a Stair Tracker

    公开(公告)号:US20210331317A1

    公开(公告)日:2021-10-28

    申请号:US17305522

    申请日:2021-07-09

    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.

    Perception and fitting for a stair tracker

    公开(公告)号:US11073842B1

    公开(公告)日:2021-07-27

    申请号:US17157500

    申请日:2021-01-25

    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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