Mitsubishi Electric Research Laboratories, Inc.

Irobot Corporation

Elena Jakubiak

Ronald N Perry

Michael J Halloran

Husain al-Mohssen

Laura V Herlant

Danielle O'Connor Dean

Zupei Li

Sarah F Frisken

An autonomous cleaning robot includes a drive system to support the autonomous cleaning robot above a floor surface, an image capture device positioned on the autonomous cleaning robot to capture imagery of a portion of the floor surface forward of the autonomous cleaning robot, and a controller operably connected to the drive system and the image capture device. The drive system is operable to maneuver the autonomous cleaning robot about the floor surface. The controller is configured to execute instructions to perform operations including initiating, based on a user-selected sensitivity and the imagery captured by the image capture device, an avoidance behavior to avoid an obstacle on the portion of the floor surface.

Image capture devices for autonomous mobile robots and related systems and methods

A method for labeling a segment of a two-dimensional input path defined according to a nonzero winding rule as either interior or exterior is described. A winding number is initialized. A scan line that intersects the segment is identified. For each contour of the input path, winding values are accumulated into the winding number for any segments of the contour that cross the identified scan line, where the accumulation for coincident segments that cross the identified scan line at a same location as the segment is postponed. These coincident segments are marked and saved in a list. The labeling of the segment as either interior or exterior is determined from the list and the winding number.

Method for labeling segments of paths as interior or exterior

A method converts a two-dimensional input path defined according to a nonzero winding rule to an equivalent output path. Degenerate segments and degenerate contours of the input path are removed. Intersections of the input path are determined. Contours of the input path that include intersections are marked. Unmarked interior contours are removed. Intersections are linked. The marked contours are walked to form new contours. Marked contours and degenerate contours are removed. The new contours and the unmarked contours are collected to form the equivalent output path. The equivalent output path can be rendered using either the nonzero winding rule or an even-odd parity rule.

Method for converting paths defined by a nonzero winding rule

A method converts an outline character to a stylized stroke character by first identifying regions of the outline character, wherein each region is closed and disjoint. For each region, candidate locations for stroke bodies and terminals of the stylized stroke character are determined. The stroke bodies are then initialized and organized into a hierarchical tree stricture, and modified in an order of the hierarchical tree structure. End positions of the modified stroke bodies are then adjusted to match the outline character, and lastly, the terminals are selected for the adjusted stroke bodies.

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Arlington, MA, United States of America

Elena Jakubiak