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US 10,705,528 B2Granted
Autonomous visual navigation
AssigneeQUALCOMM Incorporated
InventorsCasimir Matthew Wierzynski, Bardia Fallah Behabadi, Sarah Paige Gibson, Aliakbar Aghamohammadi, Saurav Agarwal
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Abstract
A method of visual navigation for a robot includes integrating a depth map with localization information to generate a three-dimensional (3D) map. The method also includes motion planning based on the 3D map, the localization information, and/or a user input. The motion planning overrides the user input when a trajectory and/or a velocity, received via the user input, is predicted to cause a collision.
Claims40
A method of visual navigation for a robot, comprising:
- integrating a depth map of a spatial area with a localization information to generate a three-dimensional (3D) map;
- motion planning, based on the 3D map, for the robot to reach a target in an unmapped area that is distinct from the spatial area based on a plurality of paths determined from a plurality of first candidate points in unoccupied locations in the 3D map and a plurality of second candidate points in the unmapped area, depth measurements for the unmapped area being unavailable when motion planning;
- determining at least one predicted collision-free path between at least one of the plurality of first candidate points in the 3D map and one of the plurality of second candidate points in the unmapped area;
- and
- altering the motion planning based on depth measurements obtained by the robot while navigating on the at least one predicted collision-free path through a portion of the unmapped area.
2 more elements
An apparatus, comprising:
- a memory;
- and
- at least one processor coupled to the memory, the at least one processor configured to:
- integrate a depth map of a spatial area with a localization information to generate a three-dimensional (3D) map;
- motion plan, based on the 3D map, for the robot to reach a target in an unmapped area that is distinct from the spatial area based on a plurality of paths determined from a plurality of first candidate points in unoccupied locations in the 3D map and a plurality of second candidate points in the unmapped area, depth measurements for the unmapped area being unavailable when motion planning;
- determine at least one predicted collision-free path between at least one of the plurality of first candidate points in the 3D map and one of the plurality of second candidate points in the unmapped area;
- and
- alter the motion planning based on depth measurements obtained by the robot while navigating on the at least one predicted collision-free path through a portion of the unmapped area.
5 more elements
An apparatus, comprising:
- means for integrating a depth map of a spatial area with a localization information to generate a three-dimensional (3D) map;
- means for motion planning, based on the 3D map, for the robot to reach a target in an unmapped area that is distinct from the spatial area based on a plurality of paths determined from a plurality of first candidate points in unoccupied locations in the 3D map and a plurality of second candidate points in the unmapped area, depth measurements for the unmapped area being unavailable when motion planning;
- means for determining at least one predicted collision-free path between at least one of the plurality of first candidate points in the 3D map and one of the plurality of second candidate points in the unmapped area;
- and
- means for altering the motion planning based on depth measurements obtained by the robot while navigating on the at least one predicted collision-free path through a portion of the unmapped area.
2 more elements
A non-transitory computer-readable medium having program code recorded thereon for providing visual navigation to a robot, the program code executed by a processor and comprising:
- program code to integrate a depth map of a spatial area with a localization information to generate a three-dimensional (3D) map;
- program code to motion plan, based on the 3D map, for the robot to reach a target in an unmapped area that is distinct from the spatial area based on a plurality of paths determined from a plurality of first candidate points in unoccupied locations in the 3D map and a plurality of second candidate points in the unmapped area, depth measurements for the unmapped area being unavailable when motion planning;
- program code to determine at least one predicted collision-free path between at least one of the plurality of first candidate points in the 3D map and one of the plurality of second candidate points in the unmapped area;
- and
- program code to alter the motion planning based on depth measurements obtained by the robot while navigating on the at least one predicted collision-free path through a portion of the unmapped area.
2 more elements
Dependencies are inferred from the claim text.