US 12,406,508 B2
Automated robotic ground-truth, checklists, and physical traceability
Paul R. West, Portland, OR (US); and Mahadev Eakambaram, Portland, OR (US)
Assigned to HAYSTACK ROBOTICS, INC., Portland, OR (US)
Filed by Haystack Robotics, Inc., Portland, OR (US)
Filed on Apr. 26, 2023, as Appl. No. 18/139,874.
Claims priority of provisional application 63/334,947, filed on Apr. 26, 2022.
Prior Publication US 2024/0078812 A1, Mar. 7, 2024
Int. Cl. G06V 20/58 (2022.01); G06T 7/70 (2017.01); G06T 11/20 (2006.01)
CPC G06V 20/58 (2022.01) [G06T 7/70 (2017.01); G06T 11/206 (2013.01); G06T 2200/24 (2013.01); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A mobile autonomous device comprising:
an autonomous vehicle unit comprising a propulsion system;
a plurality of sensor devices comprising at least a camera device;
at least one processor; and
memory that stores computer-executable instructions that, as a result of being executed by the one or more processors, cause the mobile autonomous device to:
collect ground truth data of a space using the plurality of sensor devices, the ground truth data comprising information identifying a plurality of objects each associated with a location in the space, and a condition associated with at least a first subset of the plurality of objects;
determine distances between at least some of the second subset of the plurality of objects;
obtain a checklist comprising a set of desired states for at least a second subset of the plurality of objects;
compare the ground truth data of at least the second subset of the plurality of objects and the determined distances to the set of desired states to produce a set of comparisons, individual comparisons of the set of comparisons identifying discrepancies between the ground truth data of a first object of the second subset of the plurality of objects and the desired state of the first objects;
determine that at least one discrepancy of the set of comparisons satisfies a criteria for correction; and
trigger, based on the determining, a corrective action to be performed to correct the at least one discrepancy.