Modeling robot self-occlusion for localization
AssigneeBoston Dynamics, Inc.
InventorMatthew Klingensmith
Life of this patent
Estimating the term…
Abstract
Methods and apparatus for localizing a robot in an environment are provided. The method comprises determining, for a first configuration of the robot at a first time, first sensor data that is not occluded by a portion of the robot, determining, for a second configuration of the robot at a second time, second sensor data that is not occluded by a portion of the robot, determining first overlapping data corresponding to second sensor data that overlaps the first sensor data when the robot is in the first configuration, and localizing the robot in the environment based on the first overlapping data and the second overlapping data.
Claims21
A method for localizing a robot in an environment, the method comprising:
- determining, for a first configuration of the robot at a first time, first sensor data that is not occluded by a portion of the robot;
- determining, for a second configuration of the robot at a second time, second sensor data that is not occluded by the portion of the robot, wherein a combination of the first time and the second time comprises a third time associated with recordation of a mission and a fourth time associated with playback of the mission;
- determining first overlapping data corresponding to a first at least a portion of the second sensor data that overlaps a first at least a portion of the first sensor data when the robot is in the first configuration;
- and
- instructing localization of the robot in the environment based on the first overlapping data.
A mobile robot, comprising:
- a body;
- one or more locomotion-based structures coupled to the body;
- a sensor coupled to the body;
- at least one storage device storing instructions;
- and
- at least one computer processor, based on execution of the instructions, configured to:
- determine, for a first configuration of the mobile robot at a first time, first sensor data, obtained from the sensor, that is not occluded by a portion of the mobile robot;
- determine, for a second configuration of the mobile robot at a second time, second sensor data, obtained from the sensor, that is not occluded by the portion of the mobile robot, wherein a combination of the first time and the second time comprises a third time associated with recordation of a mission and a fourth time associated with playback of the mission;
- determine first overlapping data corresponding to at least a portion of the second sensor data that overlaps at least a portion of the first sensor data when the mobile robot is in the first configuration;
- and
- instruct localization of the mobile robot in an environment based on the first overlapping data.
A non-transitory computer readable medium encoded with a plurality of instructions, wherein, based on execution of the plurality of instructions at least one computer processor is configured to:
- determine, for a first configuration of a robot at a first time, first sensor data that is not occluded by a portion of the robot;
- determine, for a second configuration of the robot at a second time, second sensor data that is not occluded by the portion of the robot, wherein a combination of the first time and the second time comprises a third time associated with recordation of a mission and a fourth time associated with playback of the mission;
- determine first overlapping data corresponding to at least a portion of the second sensor data that overlaps at least a portion of the first sensor data when the robot is in the first configuration;
- and
- instruct localization of the robot in an environment based on the first overlapping data.
A method for localizing a robot in an environment, the method comprising:
- determining, for a first configuration of the robot at a first time, first sensor data that is not occluded by a portion of the robot;
- determining, for a second configuration of the robot at a second time, second sensor data that is not occluded by the portion of the robot, wherein the portion of the robot comprises a payload of the robot or an arm of the robot;
- determining first overlapping data corresponding to at least a portion of the second sensor data that overlaps at least a portion of the first sensor data when the robot is in the first configuration;
- and
- instructing localization of the robot in the environment based on the first overlapping data.
A mobile robot, comprising:
- a body;
- one or more locomotion-based structures coupled to the body;
- at least one storage device storing instructions;
- and
- at least one computer processor, based on execution of the instructions, configured to:
- determine, for a first configuration of the mobile robot at a first time, first sensor data that is not occluded by a portion of the mobile robot;
- determine, for a second configuration of the mobile robot at a second time, second sensor data that is not occluded by the portion of the mobile robot, wherein the portion of the mobile robot comprises a payload of the mobile robot or an arm of the mobile robot;
- determine first overlapping data corresponding to at least a portion of the second sensor data that overlaps at least a portion of the first sensor data when the mobile robot is in the first configuration;
- and
- instruct localization of the mobile robot in an environment based on the first overlapping data.
A non-transitory computer readable medium encoded with a plurality of instructions, wherein, based on execution of the plurality of instructions, at least one computer processor is configured to:
- determine, for a first configuration of a robot at a first time, first sensor data that is not occluded by a portion of the robot;
- determine, for a second configuration of the robot at a second time, second sensor data that is not occluded by the portion of the robot, wherein the portion of the robot comprises a payload of the robot or an arm of the robot;
- determine first overlapping data corresponding to at least a portion of the second sensor data that overlaps at least a portion of the first sensor data when the robot is in the first configuration;
- and
- instruct localization of the robot in an environment based on the first overlapping data.
Dependencies are inferred from the claim text.