US 11,989,028 B2
Mobile robot system and method for generating map data using straight lines extracted from visual images
Ahti Heinla, Tallinn (EE); Kalle-Rasmus Volkov, Tallinn (EE); Lindsay Roberts, Tallinn (EE); and Indrek Mandre, Tallinn (EE)
Assigned to Starship Technologies OÜ, Tallinn (EE)
Filed by STARSHIP TECHNOLOGIES OÜ, Tallinn (EE)
Filed on Feb. 13, 2023, as Appl. No. 18/168,090.
Application 18/168,090 is a continuation of application No. 17/344,042, filed on Jun. 10, 2021, granted, now 11,579,623.
Application 17/344,042 is a continuation of application No. 16/908,376, filed on Jun. 22, 2020, granted, now 11,048,267, issued on Jun. 29, 2021.
Application 16/908,376 is a continuation of application No. 15/968,802, filed on May 2, 2018, granted, now 10,732,641, issued on Aug. 4, 2020.
Application 15/968,802 is a continuation of application No. PCT/EP2016/076466, filed on Nov. 2, 2016.
Claims priority of application No. 15192649 (EP), filed on Nov. 2, 2015.
Prior Publication US 2023/0195131 A1, Jun. 22, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); G01C 21/00 (2006.01); G06Q 10/0833 (2023.01); G06T 7/00 (2017.01); G06T 7/579 (2017.01); G06T 7/73 (2017.01)
CPC G05D 1/0246 (2013.01) [G01C 21/3848 (2020.08); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G05D 1/0223 (2013.01); G05D 1/0251 (2013.01); G05D 1/0274 (2013.01); G06Q 10/0833 (2013.01); G06T 7/579 (2017.01); G06T 7/73 (2017.01); G06T 7/97 (2017.01); G05D 1/024 (2013.01); G05D 1/0255 (2013.01); G05D 1/027 (2013.01); G05D 1/0272 (2013.01); G05D 1/0278 (2013.01); G05D 2201/0213 (2013.01); G05D 2201/0216 (2013.01); G06T 2207/10004 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/20212 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A mapping method performed by a processor for generating a map of an area in which a mobile robot travels, comprising:
(a) extracting features from visual images with at least one processing component;
(b) determining which of the extracted features are associated with transitory physical objects and discarding those features associated with transitory physical objects, and detecting permanent physical objects in the visual images based at least in part on the remaining extracted features;
(c) receiving location-related data from one or more sensors;
(d) combining the location-related data with data from the visual images; and
(e) generating map data based on the detected permanent physical objects and received location-related data.