Systems and methods for detecting, mapping, and route planning around cliffs for robotic devices
AssigneeBrain Corporation
InventorsSahil Rajesh Dhayalkar, Peter O'Connor, Kirill A. Pirozhenko, Charles-Alban Bruno Sylvain Deledall
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Abstract
Systems and methods for detecting, mapping, and route planning around cliffs for robotic devices are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot processing a three-dimensional range sensor scan may utilize pre-computed neighboring points to detect cliffs, navigable ramps, and holes in a plane of a map used by the robotic device to navigate.
Claims20
A robotic system, comprising:
- a three-dimensional (“3D”) range sensor;
- a memory comprising a plurality of computer readable instructions stored thereon;
- and
- at least one controller configured to execute the computer readable instructions to:
- receive a range measurement from the 3D range sensor, the range measurement comprises a plurality of points, each of the plurality of points comprises at least one neighboring point;
- determine, for each point of the plurality of points, that one or more of the points correspond to a cliff based upon at least one of:
- (i) a magnitude of a vertical difference between the point and the at least one neighboring point being greater than a first value, and (ii) a magnitude of a vertical slope between the point and the at least one neighboring point is greater than a second value;
- and
- rasterize each point determined to represent the cliff into a pixel on a map to cause the robotic system to avoid the pixels on the map representing the cliff.
A method for navigating a robotic system, comprising:
- receiving, via a controller of the robotic system, a range measurement from a three-dimensional (“3D”) range sensor, the range measurement comprises of a plurality of points, each of the plurality of points comprises at least one neighboring point;
- determine, for each point of the plurality of points, that one or more of the points corresponds to a cliff based upon at least one of:
- (i) a magnitude of a vertical difference between the point and the at least one neighboring point being greater than a first value, and (ii) a magnitude of a vertical slope between the point and the at least one neighboring point is greater than a second value;
- and
- rasterize each point determined to represent the cliff into a pixel on a map to cause the robotic system to avoid the pixels on the map representing the cliff.
A non-transitory computer readable medium comprising computer readable instructions stored thereon that when executed by at least one controller configure the at least one controller to,
- receive a range measurement from a three-dimensional (“3D”) range sensor, the range measurement comprises of a plurality of points, each of the plurality of points comprises at least one neighboring point;
- determine, for each point of the plurality of points, that one or more of the points correspond to a cliff based upon at least one of (i) a magnitude of a vertical difference between the point and the at least one neighboring point being greater than a first value, and (ii) a magnitude of a vertical slope between the point and the at least one neighboring point is greater than a second value;
- and
- rasterize each point determined to represent the cliff into a pixel on a map to cause the robotic system to avoid the pixels on the map representing the cliff.
Dependencies are inferred from the claim text.