Method of generating scan path of autonomous mobile robot and computing device
AssigneePolaris3D Co., Ltd.
InventorsIn Veom KWAK, Ho Yong LEE, Chi Won SUNG
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Abstract
A method is performed by a computing device including one or more processors and a memory that stores one or more programs executed by the one or more processors and includes acquiring a three-dimensional (3D) map of an interior, generating an occupancy height map by stacking spatial value histograms in a height direction while projecting the 3D map of the interior on a two-dimensional (2D) plane, and removing noise caused by a mobile object which moves in the interior from the occupancy height map.
Claims10
A method of generating a scan path of an autonomous mobile robot, which is performed by a computing device including one or more processors and a memory that stores one or more programs executed by the one or more processors, the method comprising:
- acquiring a three-dimensional (3D) map of an interior;
- generating an occupancy height map by stacking spatial value histograms in a height direction while projecting the 3D map of the interior on a two-dimensional (2D) plane;
- and
- removing noise, which is caused by a mobile object moving in the interior from the occupancy height map.
A computing device comprising:
- one or more processors;
- a memory;
- and
- one or more programs,
- wherein the one or more programs are stored in the memory and executed by the one or more processors, and
- the one or more programs comprise:
- an instruction for acquiring a three-dimensional (3D) map of an interior:
- an instruction for generating an occupancy height map by stacking spatial value histograms in a height direction while projecting the 3D map of the interior on a two-dimensional (2D) plane;
- and
- an instruction for removing noise caused by a mobile object which moves in the interior from the occupancy height map.
Dependencies are inferred from the claim text.