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:
Nov. 07, 2023
Filed:
May. 09, 2020
Beijing Xiaomi Intelligent Technology Co., Ltd., Beijing, CN;
Yutong Zang, Beijing, CN;
Beijing Xiaomi Intelligent Technology Co., Ltd., Beijing, CN;
Abstract
A method for detecting small obstacles includes: acquiring a first 3D point cloud corresponding to image data acquired by a cleaning robot; extracting, from the first 3D point cloud, a second 3D point cloud of a ground region; extracting, from the second 3D point cloud, a third 3D point cloud having a height value in a set height range; calculating a ground projection point cloud of the third 3D point cloud; and, determining morphologically-connected regions in the ground projection point cloud, and using a morphologically-connected region having an area less than a preset value as a region where a small obstacle is located. By effectively recognizing the ground, acquiring the ground projection point cloud and processing the point cloud by image processing, accuracy and timeliness of the algorithm can be improved compared with directly processing discrete 3D point clouds.