Method and system for pseudo 3D mapping in robotic applications
AssigneeCMOS Sensor, Inc.
InventorsWeng Lyang Wang, Hui Wei
Life of this patent
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Abstract
Techniques of designing a sensing system for pseudo 3D mapping in robotic applications are described. According to one aspect of the present invention, an image system is designed to include at least two linear sensors, where these two linear sensors are positioned or disposed orthogonally. In one embodiment, the two linear sensors are a horizontal sensor and a vertical sensor. The horizontal sensor is used for the lidar application while the vertical sensor is provided to take videos, namely scanning the environment wherever the horizontal sensor misses. As a result, the videos can be analyzed to detect anything below or above a blind height in conjunction with the detected distance by the lidar.
Claims18
A sensing system for pseudo 3D mapping, the sensing system comprising:
- at least a first linear sensor and a second linear sensor;
- the first linear sensor, disposed horizontally, provided to measure a distance towards a target, wherein the distance is measured at a predefined height from a ground;
- and
- the second linear sensor, disposed vertically, provided to take a video of an environment, wherein the first linear sensor and the second linear sensor are in a predefined rigid relationship, image data from the second linear sensor is incorporated with the distance obtained from the first linear sensor, the sensing system is mounted on a robot moving in the environment, an image of the environment is generated from the second linear sensor synchronized with respective distances obtained from the first linear sensor while the robot is moving in the environment.
A method for pseudo 3D mapping, the method comprising:
- measuring a distance towards a target by a first linear sensor as part of a lidar system, wherein the distance is measured at a predefined height from a ground;
- scanning and generating a video of an environment by a second linear sensor, wherein the first linear sensor and the second linear sensor are in a predefined rigid relationship, image data from the second linear sensor is incorporated with the distance obtained from the first linear sensor, both of the first and second linear sensors are mounted on a robot moving in the environment, an image of the environment is generated from the second linear sensor synchronized with respective distances obtained from the first sensor while the robot is moving in the environment.
Dependencies are inferred from the claim text.