Crown Equipment Corporation

Callum Robinson

Ryan Michaels Estep

Lisa Wong

Amit Philip

Timothy William Fanselow

Methods and systems for a materials handling vehicle comprising a processor and a sensor to record warehouse features. The processor is configured to generate and extract features from sensor data, create a factor graph (FG) including a sensor extrinsics node (e), and generate an initial vehicle node (v), initial sensor frame node (c), and initial sensor feature node (f) that comprises a selected extracted feature associated with c0 and v0 in an initial data association. A subsequent vehicle node (v) is generated based on an accumulated odometry amount, and a subsequent sensor frame node (c) is generated and associated with evand one of for a subsequent sensor feature node (f) in a subsequent data association. The FG is optimized to provide a sensor calibration output based on the data associations, and the vehicle is navigated based on the sensor calibration output.

Systems and methods for calibration of a pose of a sensor relative to a materials handling vehicle

Warehouse mapping tools according to the present disclosure comprise a mobile mapping interface and a mobile computing device in communication with the mobile mapping interface. The mobile computing device can be configured to access waypoint data comprising location coordinates of a set of mapping waypoints, present graphical representations of the set of mapping waypoints at discrete locations in a representation of a warehouse environment, access mobile mapping data representing an elapsed travel path, access error metric data, present a graphical representation of the error metric data, and indicate a validation state of the elapsed travel path segment. In other embodiments, a warehouse mapping tool comprises a remote computer that is configured to communicate with a mapping vehicle and that can be used to facilitate navigation, localization, or odometry correction with respect to an industrial vehicle in the warehouse. In still other embodiments, mapping vehicles comprising warehouse mapping tools are provided.

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Auckland, New Zealand

Callum Robinson