US 12,266,129 B1
Method for estimating distance using point measurement and color depth
Ali Ebrahimi Afrouzi, Henderson, NV (US); and Soroush Mehrnia, Helsingborg (SE)
Assigned to AI Incorporated, Toronto (CA)
Filed by Ali Ebrahimi Afrouzi, Henderson, NV (US)
Filed on Aug. 17, 2022, as Appl. No. 17/889,687.
Application 17/889,687 is a continuation of application No. 17/242,020, filed on Apr. 27, 2021, granted, now 11,468,588.
Application 17/242,020 is a continuation of application No. 16/932,495, filed on Jul. 17, 2020, granted, now 11,037,320, issued on Jun. 15, 2021.
Application 16/932,495 is a continuation in part of application No. 16/393,921, filed on Apr. 24, 2019, granted, now 10,755,430, issued on Aug. 25, 2020.
Application 16/393,921 is a continuation of application No. 15/447,122, filed on Mar. 2, 2017, granted, now 10,311,590, issued on Jun. 4, 2019.
Claims priority of provisional application 63/037,465, filed on Jun. 10, 2020.
Claims priority of provisional application 62/986,946, filed on Mar. 9, 2020.
Claims priority of provisional application 62/952,384, filed on Dec. 22, 2019.
Claims priority of provisional application 62/952,376, filed on Dec. 22, 2019.
Claims priority of provisional application 62/942,237, filed on Dec. 2, 2019.
Claims priority of provisional application 62/933,882, filed on Nov. 11, 2019.
Claims priority of provisional application 62/914,190, filed on Oct. 11, 2019.
Claims priority of provisional application 62/302,095, filed on Mar. 1, 2016.
This patent is subject to a terminal disclaimer.
Int. Cl. H04N 7/18 (2006.01); G01C 3/08 (2006.01); G06T 7/521 (2017.01); G06T 7/60 (2017.01); G06T 7/90 (2017.01)
CPC G06T 7/60 (2013.01) [G01C 3/08 (2013.01); G06T 7/521 (2017.01); G06T 7/90 (2017.01); H04N 7/18 (2013.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A memory storing program code that when executed by a processor of a robot effectuates operations, comprising:
capturing, with a camera disposed on the robot, a plurality of images of a workspace;
inferring, with the processor of the robot, distances to objects in the workspace based on at least some pixels of the plurality of images;
determining, with the processor of the robot, an angle of a surface captured in the plurality of images based on at least some of the inferred distances;
adjusting, with the processor of the robot, a heading angle of the robot relative to the angle of the surface;
detecting, with a sensor of a plurality of sensors disposed on the robot, an object in a line of sight of the sensor;
adjusting, with the processor of the robot, a current path of the robot to detour around or avoid the object, wherein:
the current path comprises at least two segments parallel to each other;
adjacent segments of the at least two segments of the current path are separated by a perpendicular distance;
the robot rotates 180 degrees after driving along a first segment of the current path and prior to driving along an adjacent, parallel second segment of the current path; and
the robot resumes along the current path after detouring around or avoiding the object;
generating, with the processor of the robot, a planar representation of a workspace of the robot based on data collected by at least some sensors of the plurality of sensors; and
wherein an application of a communication device paired with the robot is configured to display the planar representation.