公开(公告)号：US20210397841A1

公开(公告)日：2021-12-23

申请号：US17354577

申请日：2021-06-22

Applicant: Carnegie Robotics, LLC

Inventor： David Ian ROBINSON ,  Troy Edward TANCRAITOR ,  David LAROSE

IPC: G06K9/00 ,  G01C21/20 ,  G06T7/70

Abstract: In a method or system in which an imaging element views navigation elements for e.g. navigation, the navigating elements may not be positioned optimally. Positions may exist in which the same angles exist from the imaging element to the same or similar navigating elements, whereby the positions are not unique. Navigation elements may then be repositioned, added or removed to make the positions unique.

公开(公告)号：US20210397197A1

公开(公告)日：2021-12-23

申请号：US17354570

申请日：2021-06-22

Applicant: Carnegie Robotics, LLC

Inventor： David Ian ROBINSON ,  Troy Edward TANCRAITOR ,  David LAROSE

IPC: G05D1/02 ,  G06T7/73

Abstract: A method for navigating a movable device is disclosed. The movable device comprises a moving system arranged to move the movable device along a surface, a control system arranged to control movement of the movable device by means of the moving system, and a vision-based detector. At least one fiducial mounted at or near a position of the movable device, is captured by means of the vision-based detector and recognised. A position and/or a pose of the movable device is determined, based on the recognised at least one fiducial. An inclination of the movable device is detected, and the determined position and/or pose of the movable device is corrected, based on the detected inclination of the movable device. Finally, the movable device is navigated based on the corrected position and/or pose of the movable device.