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公开(公告)号：US12115685B2
公开(公告)日：2024-10-15
申请号：US17305655
申请日：2021-07-12
发明人： Thanh Huy Ha , Yi Chen , Zhicai Ou
CPC分类号： B25J9/1697 , B25J9/162 , B25J9/1653 , B25J9/1664 , B25J9/1679 , B25J13/088 , G06T7/579
摘要： 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.
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公开(公告)号：US11521332B1
公开(公告)日：2022-12-06
申请号：US17362846
申请日：2021-06-29
摘要： The method and device disclosed herein presents a method that includes capturing, by an optical sensor disposed on a device moving in an environment, a plurality of optical data at respective locations within a portion of the environment; capturing, by a wheel encoder disposed on the device, a set of encoder data corresponding to the plurality of optical data at the respective locations; determining a first relative motion based on the plurality of optical data; determining a corresponding second relative motion based on the set of encoder data. In accordance with determining that a difference between the first relative motion and the corresponding second relative motion is larger than a first threshold: increasing a counter indicating a slip event of the wheel encoder. The slip event corresponds to a wheel of the device advancing and the corresponding second relative motion being below a second threshold.
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公开(公告)号：US11756231B2
公开(公告)日：2023-09-12
申请号：US17362832
申请日：2021-06-29
CPC分类号： G06T7/80 , B25J5/007 , B25J9/1692 , G01C21/1656 , G06T2207/10016 , G06T2207/30244
摘要： 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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