US 11,810,345 B1 · System for determining user pose with an autonomous mobile device

Abstract

An autonomous mobile device (AMD) that interacts with a user operates more effectively with reliable information about that user's pose. Occlusion due to obstacles or sensor field-of-view limits may prevent a sensor from “seeing” a user's torso or lower body while the face may remain visible. Face orientation alone produces unreliable results because a user frequently moves their head. Sensor data is acquired over time and used to determine face and body poses, with each pose representing a location and orientation in physical space of that portion of the user. A transform is determined that represents the relative arrangement of a face pose and a body pose at a particular time. If available, the body pose may be used as the user's pose. If the body pose is unavailable or unreliable at a given time, it may be inferred by applying the previously determined transform to the current face pose.

Claims20

Dependent claims

An autonomous mobile device (AMD) comprising:

one or more sensors that acquire data about a physical space;
one or more memories storing computer-executable instructions;
and
one or more processors to execute the computer-executable instructions to:
determine first data using the one or more sensors at a first time;
determine, based on the first data:
a first body pose, with respect to the physical space, of a body of a user, and
a first face pose, with respect to the physical space, of a face of the user;
determine, based on the first body pose and the first face pose, a first transform;
determine second data using the one or more sensors at a second time;
determine, based on the second data:
a second face pose, with respect to the physical space, of the face of the user;
determine, based on the first transform and the second face pose, a second body pose of the body of the user;
and
operate the AMD based on the second body pose.

12 more elements

A system comprising:

one or more sensors that acquire data about a physical space;
one or more memories storing computer-executable instructions;
and
one or more processors to execute the computer-executable instructions to:
determine first data using the one or more sensors;
determine, based on the first data:
a first body pose of a body of a user, and
a first face pose of a face of the user;
determine, based on the first body pose and the first face pose, a first transform;
determine second data using the one or more sensors;
determine, based on the second data:
a second face pose of the face of the user;
determine, based at least on the first transform and the second face pose, a second body pose;
and
operate a device based at least in part on the second body pose.

12 more elements

Dependencies are inferred from the claim text.

System for determining user pose with an autonomous mobile device

Life of this patent

System for determining user pose with an autonomous mobile device

Life of this patent

Abstract

Claims20