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.

Inventor： Yi CHEN ,  Ke HUANG ,  Wei XI

IPC: G06T7/80 ,  G01C21/16 ,  B25J5/00 ,  B25J9/16

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.

公开(公告)号：US20230010105A1

公开(公告)日：2023-01-12

申请号：US17305655

申请日：2021-07-12

Applicant: Midea Group Co., Ltd.

Inventor： Thanh Huy HA ,  Yi CHEN ,  Zhicai OU

IPC: B25J9/16 ,  B25J13/08

Abstract: A method and system for capturing, by a camera a sequence of frames at respective locations within a portion of an environment; capturing, by an inertial measurement unit, a sequence of inertial odometry data corresponding to the sequence of frames at the respective locations; storing in a queue a data record includes information extracted from processing the respective frame and information from the inertial measurement unit; in accordance with a determination that the sequence of inertial odometry data satisfies a first criterion: calculating a first relative pose between the first frame and the second frame; and in accordance with a determination that a difference between the first relative pose and the information extracted from processing the respective frame satisfy a first threshold: generating an initial map of the portion of the environment based on the first data record and the second data record.