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US 2022/0187464 A1Published application
Indoor surveying apparatus and method
AssigneePlanitar Inc
InventorAlexander Likholyot
Life of this patent
Estimating the term…
Abstract
An apparatus for, or method of, applying an automated projection algorithm to project at least one 2D emission pattern onto a horizontal plane to generate a map of an environment, applying an automated object recognition algorithm to at least one image to recognize at least one feature, the at least one feature being at least one of a doorway, a mirror, and a window of the environment, applying an automated matching algorithm to the at least one image and the at least one 2D emission pattern using at least one set of configuration data to determine a feature position of the at least one feature on the map; and marking the map to indicate the feature position of the at least one feature.
Claims20
A mapping system for mapping an environment, comprising:
- a surveying apparatus, including:
- an 2D rangefinder operable to measure at least one 2D emission pattern at an environmental surface, the at least one 2D emission pattern including range information, and
- at least one sensor operable to detect the at least one 2D emission pattern, and the at least one sensor including an imaging sensor operable to capture at least one image of the environmental surface, and
- wherein the surveying apparatus is operable to generate at least one set of configuration data indicative of an image position of the at least one image relative to the at least one 2D emission pattern;
- and
- at least one processor communicatively coupled to the surveying apparatus to receive the at least one 2D emission pattern, the at least one image, and the at least one set of configuration data, the at least one processor operable to:
- apply an automated projection algorithm to project the at least one 2D emission pattern onto a horizontal plane to generate a map of the environment,
- apply an automated object recognition algorithm to the at least one image to recognize at least one feature, the at least one feature being at least one of a doorway, a mirror, and a window of the environment,
- apply an automated matching algorithm to the at least one image and the at least one 2D emission pattern using the at least one set of configuration data to determine a feature position of the at least one feature on the map, and
- mark the map to indicate the feature position of the at least one feature.
7 more elements
A method of generating a map of an environment, comprising:
- obtaining at least one 2D emission pattern at an environmental surface of the environment, the at least one 2D emission pattern including range information;
- obtaining at least one image of the environmental surface;
- obtaining at least one set of configuration data indicative of an image position of the at least one image relative to the at least one 2D emission pattern;
- generating the map of the environment by projecting the at least one 2D emission pattern onto a horizontal plane using an automated projection algorithm;
- identifying at least one feature in the at least one image using an automated object recognition algorithm, the at least one feature being at least one of a doorway, a mirror, and a window of the environment;
- identifying a feature position of the at least one feature by applying an automated matching algorithm to the at least one image and the at least one 2D emission pattern using the at least one set of configuration data;
- and
- marking the map to indicate the feature position of the at least one feature.
5 more elements
The method of claim 14, further comprising:
- obtaining a set of positional information from at least one of an electronic compass secured to a 2D rangefinder used to measure the at least one 2D emission pattern and an inertial measurement unit secured to the 2D rangefinder, and
- applying the positional information when automatically aligning the first and second 2D emission patterns.
A mapping system for mapping an environment, comprising:
- a surveying apparatus, including:
- an 2D rangefinder operable to measure a first 2D emission pattern at an at least one environmental surface from a first location and to measure a second 2D emission pattern at the at least one environmental surface from a second location different from the first location, each of the first and second 2D emission patterns including range information,
- at least one sensor operable to detect the first 2D emission pattern and the second 2D emission pattern, and the at least one sensor including an imaging sensor operable to capture at least one image of the at least one environmental surface,
- wherein the surveying apparatus is operable to generate at least one set of configuration data indicative of an image position of the at least one image relative to at least one of the first and second 2D emission patterns;
- and
- at least one processor communicatively coupled to the surveying apparatus to receive the first and second 2D emission patterns, the at least one image, and the at least one set of configuration data, the at least one processor operable to:
- apply an automated object recognition process to the at least one image to recognize at least one feature, the at least one feature being at least one of a doorway, a mirror, and a window of the environment,
- apply an automated matching process using the at least one set of configuration data to determine a feature position of the at least one feature relative to the at least one of the first and second 2D emission patterns,
- automatically align the first and second 2D emission patterns using the feature position to identify an overlap in the first and second 2D emission patterns, and
- apply an automated projection process to project the aligned first and second 2D emission patterns onto a horizontal plane to generate the map of the environment.
7 more elements
Dependencies are inferred from the claim text.