US 12,346,118 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 Apr. 16, 2024, as Appl. No. 18/636,427.
Application 18/636,427 is a continuation of application No. 18/168,090, filed on Feb. 13, 2023, granted, now 11,989,028.
Application 18/168,090 is a continuation of application No. 17/344,042, filed on Jun. 10, 2021, granted, now 11,579,623, issued on Feb. 14, 2023.
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 2024/0264595 A1, Aug. 8, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); G01C 21/00 (2006.01); G05D 1/227 (2024.01); G05D 1/243 (2024.01); G05D 1/246 (2024.01); G05D 1/249 (2024.01); G05D 1/646 (2024.01); G05D 1/65 (2024.01); G06Q 10/0833 (2023.01); G06T 7/00 (2017.01); G06T 7/579 (2017.01); G06T 7/73 (2017.01); G05D 1/245 (2024.01); G05D 1/247 (2024.01); G05D 1/248 (2024.01); G05D 1/644 (2024.01)
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); G05D 1/227 (2024.01); G05D 1/2435 (2024.01); G05D 1/246 (2024.01); G05D 1/249 (2024.01); G05D 1/646 (2024.01); G05D 1/65 (2024.01); 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 1/245 (2024.01); G05D 1/247 (2024.01); G05D 1/248 (2024.01); G05D 1/644 (2024.01); 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)] 22 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;
(c) receiving location-related data from one or more sensors;
(d) combining the location-related data with data from the visual images;
(e) generating map data based on remaining features in (b) and received location-related data; and (f) operating a mobile robot in an outdoor operating area to deliver an item to a predetermined delivery location using the generated map data.