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US 12,614,341 B2Granted
Systems, methods, and computer program products for populating environment models
AssigneeSanctuary Cognitive Systems Corporation
InventorsSuzanne Gildert, Geordie Rose
Life of this patent
Estimating the term…
Abstract
Systems, methods, and computer program products for managing and populating environment models are described. An environment model is accessed which represents an environment, and the environment model is populated with instances of object models. Locations where the instances of object models should be positioned in the environment model are identified, by determining where in the environment model a respective size of each instance when viewed from a vantage point at the environment model matches a size of the object represented by the respective instance when viewed from a corresponding vantage point at the environment.
Claims17
A method comprising:
- accessing, by at least one processor, an environment model representation of an environment;
- accessing, by the at least one processor, a first view of the environment from a first vantage point, the first vantage point having a position and a perspective in relation to the environment, wherein the first view comprises first image data having a first resolution and the first view includes an object in the environment;
- accessing, in a library of object models, an object model representation of the object, the object model including dimension data indicative of spatial dimensions of the object;
- and
- populating the environment model with an instance of the object model at a location in the environment model, wherein populating the environment model with the instance of the object model at the location includes:
- generating a second view of the environment model from a second vantage point, wherein the second view comprises second image data having a second resolution and a position and a perspective of the second vantage point in relation to the environment model substantially match the position and the perspective of the first vantage point in relation to the environment;
- identifying the location in the environment model where a number of pixels occupied by the instance of the object model in the second image data corresponds to a number of pixels occupied by the object in the first image data;
- and
- positioning the instance of the object model at the location.
6 more elements
A method comprising:
- accessing, by at least one processor, an environment model representation of an environment;
- accessing, by the at least one processor, a first view of the environment from a first vantage point, the first vantage point having a position and a perspective in relation to the environment, wherein the first view includes an object in the environment;
- capturing, by at least one haptic sensor positioned at an actuatable member which contacts the object, haptic data representing the object;
- generating, based on the captured haptic data, an object model representing the object;
- accessing, in a library of object models, the object model representation of the object, the object model including dimension data indicative of spatial dimensions of the object;
- and
- populating the environment model with an instance of the object model at a location in the environment model, wherein populating the environment model with the instance of the object model at the location includes:
- generating a second view of the environment model from a second vantage point, wherein a position and a perspective of the second vantage point in relation to the environment model substantially match the position and the perspective of the first vantage point in relation to the environment;
- identifying the location in the environment model where at least one spatial dimension of the instance of the object model in the second view of the environment model from the second vantage point substantially matches a corresponding spatial dimension of the object in the first view of the environment from the first vantage point;
- and
- positioning the instance of the object model at the location.
8 more elements
Dependencies are inferred from the claim text.