公开(公告)号：US20240248484A1

公开(公告)日：2024-07-25

申请号：US18564173

申请日：2022-06-17

Applicant: THE TORO COMPANY

Inventor： Alexander Steven Frick ,  David Arthur LaRose ,  Stephen Paul Elizondo Landers ,  Eckhard Schwendemann

IPC: G05D1/246 ,  A01D34/00 ,  A01D101/00 ,  G05D1/648 ,  G05D105/15 ,  G05D111/10 ,  G06T7/73

CPC classification number: G05D1/2462 ,  A01D34/008 ,  G05D1/648 ,  G06T7/73 ,  A01D2101/00 ,  G05D2105/15 ,  G05D2111/10 ,  G06T2207/10028

Abstract: An autonomous work vehicle generates a localization image of a part of a scene surrounding the autonomous work vehicle and generates a check image of a different part of the scene. A controller of the vehicle performs a localization process that involves generating the localization image and the check image. The localization image is used to determine an estimated pose of the autonomous work vehicle within the work region via a stored 3D point cloud (3DPC). The estimated pose and the 3DPC are used to determine predicted features within the check image. A comparison between the predicted features and corresponding features in the check image validates the estimated pose based on the comparison satisfying a threshold.