The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 04, 2018
Filed:
Aug. 29, 2016
Generic frontal and side doorway detection with line tracking and vanishing point based verification
Hrl Laboratories, Llc, Malibu, CA (US);
Lei Zhang, Torrance, CA (US);
Fredy Monterroza, Canoga Park, CA (US);
Kyungnam Kim, Oak Park, CA (US);
Jiejun Xu, Chino, CA (US);
Yang Chen, Westlake Village, CA (US);
Deepak Khosla, Camarillo, CA (US);
HRL Laboratories, LLC, Malibu, CA (US);
Abstract
Described is a system for frontal and side doorway detection. Salient line segments are extracted from an image frame captured of an indoor environment. Existence of a vanishing point in the image frame is determined. If a vanishing point is detected with a confidence score that meets or exceeds a predetermined confidence score, then the system performs side doorway detection via a side doorway detection module. If a vanishing point is detected with a confidence score below the predetermined confidence score, then the system performs frontal doorway detection via a frontal doorway detection module. A description of detected doorways is output and used by a mobile robot (Unmanned Aerial Vehicle) to autonomously navigate the indoor environment.