US 12,340,534 B2
Infrastructure to support vehicle navigation
Subodh Mishra, Bryan, TX (US); Punarjay Chakravarty, Campbell, CA (US); Sagar Manglani, Cupertino, CA (US); Sushruth Nagesh, Mountain View, CA (US); and Gaurav Pandey, College Station, TX (US)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Jul. 27, 2022, as Appl. No. 17/815,252.
Prior Publication US 2024/0037772 A1, Feb. 1, 2024
Int. Cl. G06K 9/00 (2022.01); G06T 7/70 (2017.01)
CPC G06T 7/70 (2017.01) [G06T 2207/30244 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising: moving a robot in a structure that includes a plurality of downward-facing cameras, and, as the robot moves: capturing upward images with an upward-facing camera mounted to the robot, and capturing downward images with the respective downward-facing cameras;
determining upward-facing camera poses at respective times based on the upward images; and
determining respective poses of the downward-facing cameras based on (a) determining motion of the robot from the downward images, and (b) the upward-facing camera poses determined from the upward images.