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:
Apr. 28, 2020
Filed:
Aug. 04, 2018
Beijing Jingdong Shangke Information Technology Co., Ltd., Beijing, CN;
Jd.com American Technologies Corporation, Mountain View, CA (US);
Chengzhi Qi, Mountain View, CA (US);
Beijing Jingdong Shangke Information Technology Co., Ltd., Beijing, CN;
JD.com American Technologies Corporation, Mountain View, CA (US);
Abstract
A system and method for constructing and updating a two dimensional (2D) grid cell map based on depth images and RGB images. The method includes: providing an RGB image and a depth image by a sensor of a computing device; determining scores of pixels in the RGB image representing possibility of the pixels being located in a ground plane; determining normal directions of pixels in the depth image; determining the ground plane based on the scores and the normal directions; projecting the pixels in the depth images to the ground plane; and generating and updating the 2D grid cell map by defining the ground plane into grid cells and attributing a color descriptor to each grid cell. The color descriptor of each grid cell is calculated based on the projected pixels within that grid cell.