公开(公告)号：US11592826B2

公开(公告)日：2023-02-28

申请号：US16719541

申请日：2019-12-18

Applicant: Zebra Technologies Corporation

Inventor： Ziehen Huang ,  Harsoveet Singh ,  Jonathan Kelly ,  Mahyar Vajedi

IPC: G05D1/02

Abstract: A method for dynamic loop closure in a mobile automation apparatus includes: obtaining mapping trajectory data defining a plurality of trajectory segments traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse a current segment; generating a sequence of keyframes for the current segment using sensor data captured via a navigational sensor of the apparatus; and, for each keyframe: determining an estimated apparatus pose based on the sensor data and a preceding estimated pose corresponding to a preceding keyframe; and, determining a noise metric defining a level of uncertainty associated with the estimated pose relative to the preceding estimated pose; determining, for a selected keyframe, an accumulated noise metric based on the noise metrics for the selected keyframe and each previous keyframe; and when the accumulated noise metric exceeds a threshold, updating the mapping trajectory data to insert a repetition of one of the segments.

公开(公告)号：US20200209881A1

公开(公告)日：2020-07-02

申请号：US16719541

申请日：2019-12-18

Applicant: Zebra Technologies Corporation

Inventor： Zichen Huang ,  Harsoveet Singh ,  Jonathan Kelly ,  Mahyar Vajedi

IPC: G05D1/02 ,  G01C21/20 ,  G06K9/00 ,  G06T7/73

Abstract: A method for dynamic loop closure in a mobile automation apparatus includes: obtaining mapping trajectory data defining a plurality of trajectory segments traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse a current segment; generating a sequence of keyframes for the current segment using sensor data captured via a navigational sensor of the apparatus; and, for each keyframe: determining an estimated apparatus pose based on the sensor data and a preceding estimated pose corresponding to a preceding keyframe; and, determining a noise metric defining a level of uncertainty associated with the estimated pose relative to the preceding estimated pose; determining, for a selected keyframe, an accumulated noise metric based on the noise metrics for the selected keyframe and each previous keyframe; and when the accumulated noise metric exceeds a threshold, updating the mapping trajectory data to insert a repetition of one of the segments.