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:
Feb. 01, 2022
Filed:
Apr. 18, 2019
Applicant:
Starship Technologies Oü, Tallinn, EE;
Inventor:
Rasmus Raag, Tallinn, EE;
Assignee:
STARSHIP TECHNOLOGIES OÜ, Tallinn, EE;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G06K 9/00 (2006.01); G06T 7/12 (2017.01); G06T 7/73 (2017.01);
U.S. Cl.
CPC ...
G06T 7/12 (2017.01); G06K 9/00208 (2013.01); G06K 9/00798 (2013.01); G06T 7/73 (2017.01); G06T 2207/10012 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30256 (2013.01);
Abstract
A method includes acquiring at least one image with at least one camera associated with at least one mobile robot; and extracting a plurality of straight lines from the at least one image; creating at least one dataset comprising data related to the plurality of straight lines extracted from the at least one image; forming a plurality of hypotheses for a walkway boundary based on the at least one dataset and determining at least one hypothesis with the highest likelihood of representing a walkway boundary; and using the at least one hypothesis to adjust a direction and/or speed of motion of the at least one mobile robot.