Apparatus and method for 3d scene graph-based spatial exploration for robot
AssigneesHyundai Motor Company, Kia Corporation
InventorsJoohyung KIM, Jehong LEE, Sunwoo LEE, Yeongmin SONG
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Abstract
A method and an apparatus for 3D scene graph-based spatial exploration for a robot. The method is performed by a computing device including a processor and a memory, and includes receiving user query data including a work request for the robot, identifying a location of the robot and generating a map based on sensor information collected by the robot, generating a 3D scene graph based on the identified location of the robot and the generated map, and inferring the exploration space for the robot to travel based on the user query data, the map, and the 3D scene graph.
Claims20
An apparatus for three-dimensional (3D) scene graph-based spatial exploration for a robot, the apparatus comprising:
- one or more processors;
- and
- one or more memory devices storing a program code configured to, based on being executed by the one or more processors, cause the apparatus to perform operations comprising:
- receiving user query data including a work request for the robot,
- identifying a location of the robot,
- generating a map based on sensor information collected by the robot,
- generating a 3D scene graph based on the location of the robot and the map, and
- inferring an exploration space for the robot to travel based on the user query data, the map, and the 3D scene graph.
A method for three-dimensional (3D) scene graph-based spatial exploration for a robot, the method being performed by a computing device comprising a processor and a memory, the method comprising:
- receiving, by the processor, user query data including a work request for the robot;
- identifying, by the processor, a location of the robot;
- generating, by the processor, a map based on sensor information collected by the robot;
- generating, by the processor, a 3D scene graph based on the location of the robot and the map;
- and
- inferring, by the processor, an exploration space for the robot to travel based on the user query data, the map, and the 3D scene graph.
Dependencies are inferred from the claim text.