Back to results
US 11,087,239 B2Granted
System and method for computing a probability that an object comprises a target using segment points
AssigneeFetch Robotics, Inc.
InventorsAlex Henning, Michael Ferguson, Melonee Wise
Life of this patent
Estimating the term…
Abstract
A method for computing a probability that an object comprises a target includes: performing a scan of an area comprising the object, generating points; creating a segment corresponding to the object using the points as segment points, the segment extending from a first segment point to a last segment point, the segment comprising a plurality of the segment points; and applying a metric, computing the probability that the object comprises the target.
Claims20
A method for computing a probability that an object comprises a target, comprising:
- performing a scan of an area comprising the object, generating points;
- creating a segment corresponding to the object using the points as segment points, the segment extending from a first segment point to a last segment point, the segment comprising a plurality of the segment points;
- applying a metric, computing the probability that the segment comprises the target, wherein the target comprises one or more of a human, a human appendage, a robot, a robot appendage, a forklift, a wall, a cart, a shelf, and a chair;
- using the computed probability, identifying the segment as one or more of target and non-target;
- removing a segment that corresponds to a non-moving object;
- and
- filtering the segment to integrate the classification with knowledge about one or more of locations of humans and locations of non-humans.
4 more elements
A method for computing a probability that an object comprises a target, comprising:
- performing a scan of an area, generating points;
- creating a segment corresponding to the object using the points as segment points, the segment extending from a first segment point to a last segment point, the segment comprising a plurality of the segment points;
- adding the segment to a candidate set of lines;
- for a segment point, computing a point-segment distance from the point to the segment;
- determining that the point-segment distance is not less than a threshold distance;
- finding the farthest for a segment point, computing a point-segment distance from the point to the segment;
- determining that the point-segment distance is not less than a threshold distance;
- finding the farthest point that comprises the point that is farthest from the segment;
- updating a metric usable to compute the probability that the object comprises the target, wherein the target comprises one or more of a human, a human appendage, a robot, a robot appendage, a forklift, a wall, a cart, a shelf, and a chair;
- using the computed probability, identifying the segment as one or more of target and non-target;
- removing a segment that corresponds to a non-moving object;
- and
- filtering the segment to integrate the classification with knowledge about one or more of locations of humans and locations of non-humans.
10 more elements
A method for computing a probability that an object comprises a target, comprising:
- performing a scan of an area, generating points;
- creating a segment corresponding to the object using the points as segment points, the segment extending from a first segment point to a last segment point, the segment comprising a plurality of the segment points;
- adding the segment to a candidate set of lines;
- for at least one segment point, computing a point-segment distance from the point to the segment;
- determining that the point-segment distance is less than a threshold distance;
- updating a metric usable to compute the probability that the object comprises the target, wherein the target comprises one or more of a human, a human appendage, a robot, a robot appendage, a forklift, a wall, a cart, a shelf, and a chair;
- using the computed probability, identifying the segment as one or more of target and non-target;
- removing a segment that corresponds to a non-moving object;
- and
- filtering the segment to integrate the classification with knowledge about one or more of locations of humans and locations of non-humans.
7 more elements
A method for computing a probability that an object comprises a target, comprising:
- creating a segment corresponding to the object, the segment extending from a first segment point to a last segment point, the segment comprising a plurality of segment points, using points obtained in a scan of an area comprising the segment;
- adding the segment to a candidate set of lines;
- for at least one segment point, computing a point-segment distance from the point to the segment;
- determining that the point-segment distance is less than a threshold distance;
- updating a metric usable to compute the probability that the object comprises the target, wherein the target comprises one or more of a human, a human appendage, a robot, a robot appendage, a forklift, a wall, a cart, a shelf, and a chair;
- using the computed probability, identifying the segment as one or more of target and non-target;
- removing a segment that corresponds to a non-moving object;
- and
- filtering the segment to integrate the classification with knowledge about one or more of locations of humans and locations of non-humans.
6 more elements
Dependencies are inferred from the claim text.