公开(公告)号：US20240160222A1

公开(公告)日：2024-05-16

申请号：US18279922

申请日：2022-03-02

申请人： Agency for Science, Technology and Research

发明人： Saurab VERMA ,  Syed Zeezhan Ahmed MUKHTAR ,  Kun ZHANG ,  Nicolas Andre GAUTHIER ,  Kam Pheng NG ,  Yuda CHEN ,  Chong Boon TAN ,  Albertus Hendrawan ADIWAHONO

IPC分类号： G05D1/246 ,  G01S17/89 ,  G05D105/80 ,  G05D111/10 ,  G05D111/63 ,  G06T7/579 ,  G06T7/70

CPC分类号： G05D1/246 ,  G01S17/89 ,  G06T7/579 ,  G06T7/70 ,  G05D2105/87 ,  G05D2111/17 ,  G05D2111/65 ,  G06T2207/10028

摘要： A method of localizing a mobile robot 100 with respect to a target object 601 using an initial map of a reference object which is a representation of the target object is disclosed herein. The method comprises obtaining LiDAR data 503 of the target object 601 captured by a LiDAR device 203 of the mobile robot 100 as the mobile robot 100 traverses in an environment associated with the target object 601 the LiDAR data including respective point cloud representations of the target object 501 and the environment in various sampling instances; iteratively updating pose data representing estimated pose of the mobile robot 100 with respect to a known reference location in corresponding sampling instances as the mobile robot traverses the environment; extracting a subset of LiDAR data points in the point cloud representation of a previous sampling instance, the subset of LiDAR data points corresponding to features of the target object 601 in the initial map based on the estimated pose of the mobile robot 100 associated with the previous sampling instance; obtaining desired LiDAR data points in the point cloud representation in a current sampling instance, the desired LiDAR data points including current LiDAR data points which correspond to the extracted subset of LiDAR data points in the previous sampling instance; and determining a localization pose of the mobile robot 100 with respect to the target object 601 in the current sampling instance based on the desired LiDAR data points. A system for localizing a mobile robot is also disclosed herein.

公开(公告)号：US20240160223A1

公开(公告)日：2024-05-16

申请号：US18510136

申请日：2023-11-15

申请人： Gideon Brothers d.o.o.

发明人： Josip Cesic ,  Kruno Lenac ,  Tonci Novkovic ,  Luka Pevec

IPC分类号： G05D1/246 ,  G05D1/646 ,  G05D1/69 ,  G05D105/80 ,  G05D107/70 ,  G05D111/10 ,  G05D111/63 ,  G06V10/82

CPC分类号： G05D1/2462 ,  G05D1/646 ,  G05D1/69 ,  G06V10/82 ,  G05D2105/87 ,  G05D2107/70 ,  G05D2111/10 ,  G05D2111/65

摘要： A system and method are described that provide for mapping features of a warehouse environment having improved workflow. In one example of the system/method of the present invention, a mapping robot is navigated through a warehouse environment, and sensors of the mapping robot collect geospatial data as part of a mapping mode. A Frontend N block of a map framework may be responsible for reading and processing the geospatial data from the sensors of the mapping robot, as well as various other functions. The data may be stored in a keyframe object at a keyframe database. A Backend block of the map framework may be useful for detecting loop constraints, building submaps, optimizing a pose graph using keyframe data from one or more trajectory blocks, and/or various other functions.