Modeling robot self-occlusion for localization
AssigneeBoston Dynamica Street
InventorMatthew Klingensmith
Life of this patent
Estimating the term…
Abstract
Methods and apparatus for localizing a robot in an environment are provided. The method comprises determining, for a first configuration of the robot at a first time, first sensor data that is not occluded by a portion of the robot, determining, for a second configuration of the robot at a second time, second sensor data that is not occluded by a portion of the robot, determining first overlapping data corresponding to second sensor data that overlaps the first sensor data when the robot is in the first configuration, and localizing the robot in the environment based on the first overlapping data and the second overlapping data.
Claims22
A method for localizing a robot in an environment, the method comprising:
- determining, for a first configuration of the robot at a first time, first sensor data that is not occluded by a portion of the robot;
- determining, for a second configuration of the robot at a second time, second sensor data that is not occluded by a portion of the robot;
- determining first overlapping data corresponding to second sensor data that overlaps the first sensor data when the robot is in the first configuration;
- and
- localizing the robot in the environment based on the first overlapping data.
A mobile robot, comprising:
- a body;
- one or more locomotion-based structures coupled to the body and configured to move the mobile robot though an environment;
- a sensor coupled to the body, the sensor configured to sense information about the environment;
- at least one storage device configured to store a map of the environment, the map including configuration information associated with a first configuration of the mobile robot at a first time;
- at least one computer processor configured to:
- determine, based on the configuration information, first sensor data sensed by the sensor that is not occluded by a portion of the mobile robot;
- determine, for a second configuration of the robot at a second time, second sensor data sensed by the sensor that is not occluded by a portion of the mobile robot;
- determine first overlapping data corresponding to second sensor data that overlaps the first sensor data when the robot is in the first configuration;
- and
- localize the mobile robot in the environment based on the first overlapping data.
20-36. (canceled)
A non-transitory computer readable medium encoded with a plurality of instructions that, when executed by at least one computer processor perform a method, the method comprising:
- determining, for a first configuration of the robot at a first time, first sensor data that is not occluded by a portion of a mobile robot;
- determining, for a second configuration of the robot at a second time, second sensor data that is not occluded by a portion of the mobile robot;
- determining first overlapping data corresponding to second sensor data that overlaps the first sensor data when the robot is in the first configuration;
- and
- localizing the mobile robot in the environment based on the first overlapping data.
38-54. (canceled)
Dependencies are inferred from the claim text.