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:
Oct. 11, 2022
Filed:
Sep. 15, 2020
Irobot Corporation, Bedford, MA (US);
Douglas Ferrer, Cambridge, MA (US);
Stefan Zickler, Bedford, MA (US);
Sung-Yee Guo, Pasadena, CA (US);
Danielle O'Connor Dean, Westford, MA (US);
iRobot Corporation, Bedford, MA (US);
Abstract
Described herein are systems, devices, and methods for localizing and recognizing an object in an environment. In an example, a mobile cleaning robot comprises a drive system to move the mobile cleaning robot about an environment, an imaging sensor to take images of an object in the environment from different perspectives. The multiple observations include images of the object that is at least partially occluded by an obstacle. A controller circuit of the mobile robot can, for multiple different locations in a map of the environment, calculate respective fractional visibility values using the plurality of images. The fractional visibility values each represent a probability of the object being visible through the corresponding location. The controller circuit can localize and recognize the object based on the fractional visibility values at the multiple locations on the map.