Transitions Research Corporation

Steven J King

John M Evans, Jr

Carl F Weiman

Apparatus and method which provides for the determination of a vehicle's orientation and position in an environment, such as a hallway, from an image of a retroreflective ceiling feature. A mobile robot 10 includes a light source 28 and a camera 12 that are pitched up obliquely at an intermediate angle between a horizon and a zenith. The camera views a ceiling having one or more strip-like retroreflective features 16 which are preferably aligned with an axis of the hallway. In that the feature presents a pattern or alignment which is substantially parallel to a long axis of the hallway the pattern is detected and processed to derive robot navigation information therefrom.

Mobile robot navigation employing retroreflective ceiling features

A vision system for a vehicle, such as a mobile robot (10) includes at least one radiation projector (14, 16) which projects a structured beam of radiation into the robot's environment. The structured beam of radiation (14a, 16a) preferably has a substantially planar pattern of sufficient width to encompass the immediate forward path of the robot and also to encompass laterally disposed areas in order to permit turning adjustments. The vision system further includes an imaging (12) sensor such as a CCD imaging device having a two-dimensional field of view which encompasses the immediate forward path of the robot. An image sensor processor (18) includes an image memory (18A) coupled to a device (18D) which is operable for accessing the image memory. Image processing is accomplished in part by triangulating the stored image of the structured beam pattern to derive range and bearing, relative to the robot, of a object being illuminated. A navigation control system (20) of the robot inputs data from at least the vision system and infers therefrom data relating to the configuration of the environment which lies in front of the robot. The navigation control system generates control signals which drive propulsion and steering motors in order to navigate the robot through the perceived environment.

Visual navigation and obstacle avoidance structured light system

A vision system for a vehicle, such as a mobile robot (10) includes at least one radiation projector (14, 16) which projects a structured beam of radiation into the robot's environment. The structured beam of radiation (14a, 16a) preferably has a substantially planar pattern of sufficient width to encompass the immediate forward path of the robot and also to encompass laterally disposed areas in order to permit turning adjustments. The vision system further includes an imaging (12) sensor such as a CCD imaging device having a two-dimensional field of view which encompasses the immediate forward path of the robot. An image sensor processor (18) includes an image memory (18A) coupled to a device (18D) which is operable for accessing the image memory. Image processing is accomplished in part by triangulating the stored image of the structured beam pattern to derive range and bearing, relative to the robot, of an object being illuminated. A navigation control system (20) of the robot inputs data from at least the vision system and infers therefrom data relating to the configuration of the environment which lies in front of the robot. The navigation control system generates control signals which drive propulsion and steering motors in order to navigate the robot through the perceived environment.

Apparatus and method which provides for the determination of a vehicle's orientation and position in an environment, such as a hallway, from an image of ceiling lights. A mobile robot 10 includes a camera 12 that is pitched up obliquely at an intermediate angle between a horizon and a zenith. The camera views a ceiling having one or more ceiling lights 16 which may be of rectangular shape and which are preferably aligned with an axis of the hallway. In that the lights present a pattern or alignment which is substantially parallel to or perpendicular to a long axis of the hallway the pattern is detected and processed to derive robot navigation information therefrom.

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Woodbury, CT, United States of America

Steven J King