US 10,274,325 B2
SYSTEMS AND METHODS FOR ROBOTIC MAPPINGGeneral
US 10,274,325 B2
SYSTEMS AND METHODS FOR ROBOTIC MAPPING
Tech Center:
3600 Transportation, Construction, Electronic Commerce, Agriculture, National Security and License and Review
Examiner:
Dale Moyer
Art Unit:
3664 Computerized Vehicle Controls and Navigation, Radio Wave, Optical and Acoustic Wave Communication, Robotics, and Nuclear Systems
Agent:
Inventors:
Jaldert Rombouts; Borja Ibarz Gabardos; Jean-Baptiste Passot; Andrew Smith
Assignee:
Priority:
11/01/16
Filed:
11/01/16
Granted:
04/30/19
Expiration:
01/29/37
Abstract
Systems and methods for robotic mapping are disclosed. In some exemplary implementations, a robot can travel in an environment. From travelling in the environment, the robot can create a graph comprising a plurality of nodes, wherein each node corresponds to a scan taken by a sensor of the robot at a location in the environment. In some exemplary implementations, the robot can generate a map of the environment from the graph. In some cases, to facilitate map generation, the robot can constrain the graph to start and end at a substantially similar location. The robot can also perform scan matching on extended scan groups, determined from identifying overlap between scans, to further determine the location of features in a map.
Cooperative Patent Classification (CPC)
G01G01C21/3848G01S15/89G01CG05D1/0274G05D