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:
Dec. 19, 2023
Filed:
Feb. 13, 2020
Crown Equipment Corporation, New Bremen, OH (US);
Ryan Michaels Estep, Auckland, NZ;
Timothy William Fanselow, Auckland, NZ;
Callum James Robinson, Auckland, NZ;
Crown Equipment Corporation, New Bremen, OH (US);
Abstract
Methods and systems for a materials handling vehicle comprising a processor and a sensor to record warehouse features. The processor is configured to generate and extract features from sensor data, create a factor graph (FG) including a sensor extrinsics node (e), and generate an initial vehicle node (v), initial sensor frame node (c), and initial sensor feature node (f) that comprises a selected extracted feature associated with c0 and v0 in an initial data association. A subsequent vehicle node (v) is generated based on an accumulated odometry amount, and a subsequent sensor frame node (c) is generated and associated with evand one of for a subsequent sensor feature node (f) in a subsequent data association. The FG is optimized to provide a sensor calibration output based on the data associations, and the vehicle is navigated based on the sensor calibration output.