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US 2023/0069475 A1Published application
Autonomous machine navigation with object detection and 3d point cloud
AssigneeThe Toro Company
InventorsTrevor M. Porter, Alexander S. Frick
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Abstract
Autonomous machine navigation techniques may determine vision-based pose data based on feature data and object recognition data extracted from images. The vision-based pose data may be used to generate a three-dimensional point cloud that represents at least a work region. The vision-based pose data may be used to determine an operational vision-based pose relative to the three-dimensional point cloud.
Claims19
1-16. (canceled)
A method for navigation of an autonomous machine in a work region, the method comprising:
- generating one or more images of at least the work region using one or more cameras of the autonomous machine;
- generating object recognition data indicative of any objects detected in the one or more images;
- in response to the object recognition data indicating at least one object detected in the one or more images, determining at least one object area corresponding to the at least one object or determining object descriptor data that indicates a characteristic of the at least one object;
- generating feature data extracted from the one or more images excluding the at least one object area or generating the feature data by prioritizing features to match based on the object descriptor data;
- generating vision-based pose data based on the object recognition data and the feature data;
- and
- directing navigation of the autonomous machine based on the vision-based pose data.
4 more elements
Dependencies are inferred from the claim text.