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.

公开(公告)号：US20200182623A1

公开(公告)日：2020-06-11

申请号：US16214764

申请日：2018-12-10

Applicant: Zebra Technologies Corporation

Inventor： Zichen Huang ,  Harsoveet Singh ,  Mahyar Vajedi

IPC: G01C21/20 ,  G05D1/00 ,  G05D1/02

Abstract: A method for dynamic target feature mapping in a mobile automation apparatus includes, at a navigational controller of the apparatus: obtaining mapping trajectory data defining a trajectory traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse the trajectory; generating a sequence of keyframes and corresponding estimated mobile automation apparatus poses in a facility frame of reference during traversal of the trajectory, using a navigational sensor of the mobile automation apparatus; simultaneously with generating a target-associated one of the keyframes, detecting a target feature using an environmental sensor of the mobile automation apparatus; storing a relative target location of the target feature, defined relative to the estimated pose of the target-associated keyframe; generating a map of the facility based on the sequence of keyframes; and storing a final target location for the target feature, defined in the facility frame of reference.