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公开(公告)号：US20220414932A1
公开(公告)日：2022-12-29
申请号：US17362832
申请日：2021-06-29
Applicant: Midea Group Co., Ltd.
Abstract: The method and system disclosed herein presents a method and system for capturing, by a camera disposed on a device moving in an environment, a plurality of image frames recorded in a first coordinate reference frame at respective locations within a portion of the environment in a first time period; capturing, by an inertial measurement unit disposed on the device, sets of inertial odometry data recorded in a second coordinate reference frame; determining a rotational transformation matrix that corresponds to a relative rotation between the first reference frame and the second reference frame; and determining a scale factor from the matching pairs of image frames. The rotational transformation matrix defines an orientation of the device, and the scale factor and the rotational transformation matrix calibrate the plurality of image frames captured by the camera.
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公开(公告)号：US20230206490A1
公开(公告)日：2023-06-29
申请号：US17565178
申请日：2021-12-29
Applicant: Midea Group Co., Ltd.
Inventor： Wei XI
CPC classification number: G06T7/74 , H04N5/23299 , G06T1/0014 , G01S5/02585 , G06T2207/30244 , G06T2207/30204 , G06T2207/20081
Abstract: The method and system disclosed herein presents a method and system for capturing, by a camera device on a mobile robot moving in an environment, an image frame at a first location within a portion of the environment. In accordance with a determination that the image frame contains a first visual marker: the method includes determining a camera orientation angle from the camera device to a first anchor associated with the first visual marker based on the image frame; detecting, by a detector on the mobile robot, a first beacon signal emitted by the first anchor. The method includes determining a distance between the mobile robot and the first anchor; and determining an orientation angle of the mobile robot based on the camera orientation angle, and the distance between the mobile robot and the first anchor.
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公开(公告)号：US20220287530A1
公开(公告)日：2022-09-15
申请号：US17202268
申请日：2021-03-15
Applicant: Midea Group Co., Ltd.
Inventor： Wei XI , Xiuzhong WANG
Abstract: The method and system disclosed herein presents a method and system for capturing, by a camera moving in an environment, a sequence of consecutive frames at respective locations within a portion of the environment; constructing a topological semantic graph corresponding to the portion of the environment based on the sequence of consecutive frames; in accordance with a determination that the topological semantic graph includes at least a predefined number of edges: searching, in a topological semantic map of the environment, one or more candidate topological semantic graphs corresponding to the first topological semantic graph; for a respective candidate topological semantic graph of the one or more candidate topological semantic graphs, searching, in a joint semantic and feature localization map, a keyframe corresponding to the respective candidate topological semantic graph; and computing a current pose of the camera based on the keyframe.
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