Method and a system of improving a map for a robot
AssigneeCarnegie Robotics, LLC
InventorsDavid LAROSE, Andrew James SOMERVILLE, Anurag JAKHOTIA
Life of this patent
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Abstract
A method and a system for generating a map by a robot travelling around the venue or scene while sensors detect obstacles therein. If portions of the map have obstacles determined with a too low accuracy, i.e. the map quality is too low, determining a position in the venue or scene from which the robot may determine the position of the obstacles with a higher precision, where after the robot is moved to the position and the map improved.
Claims14
A method of providing a map of a scene or venue, the method comprising:
- A) moving a robot in the scene or venue, the robot comprising one or more remote sensors configured to sense a distance to an obstacle as well as an angle between a direction to the obstacle and a predetermined axis of the robot,
- B) generating the map from output of the sensor(s) of the robot,
- C) determining a quality of one or more individual portions of the map,
- D) if a portion of the map has a quality below a quality threshold:
- 1) determining a position from which the sensor(s) may detect the determined portion,
- 2) moving the robot to the determined position to detect the determined portion and generate improved data, and
- 3) improving, using the improved data, the quality of the map at the determined portion of the map.
A system comprising a processor and a robot comprising one or more remote sensors configured to sense a distance to an obstacle as well as an angle between a direction to the obstacle and a predetermined axis of the robot,
- wherein the processor is configured to:
- A) control the robot to move in a scene or venue,
- B) receive output of the sensor(s) of the robot and generate a map,
- C) determine a quality of one or more individual portions of the map,
- D) if a portion of the map has a quality below a quality threshold:
- 1) determining a position from which the sensor(s) may detect the determined portion,
- 2) control the robot to move to the determined position to detect the determined portion and generate improved data, and
- 3) improve, using the improved data, the quality of the map at the determined portion of the map.
A method of providing a map of a scene or venue, the method comprising:
- A) moving a robot in the scene or venue, the robot comprising one or more remote sensors configured to sense a distance to an obstacle as well as an angle between a direction to the obstacle and a predetermined axis of the robot,
- B) generating the map from output of the sensor(s) of the robot,
- C) determining, for each of a number of positions in the scene or venue, a positioning precision of the robot and adding the position precision to the map.
Dependencies are inferred from the claim text.