US 12,422,276 B1
System to determine map data for autonomous mobile device map
Nathalie Majcherczyk, San Diego, CA (US); Chang Young Kim, Newark, CA (US); Rajasimman Madhivanan, San Francisco, CA (US); and Jong Jin Park, Sunnyvale, CA (US)
Assigned to AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed by AMAZON TECHNOLOGIES, INC., Seattle, WA (US)
Filed on Nov. 16, 2022, as Appl. No. 18/055,954.
Int. Cl. G01C 21/00 (2006.01); G05D 1/00 (2024.01)
CPC G01C 21/3867 (2020.08) [G01C 21/3811 (2020.08); G01C 21/3859 (2020.08); G05D 1/0274 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous mobile device (AMD) located in a physical space, the AMD comprising:
one or more sensors;
one or more memories storing computer-executable instructions; and
one or more processors to execute the computer-executable instructions to:
retrieve a global map indicative of a first set of one or more obstacles and their respective locations within the physical space;
determine, using the one or more sensors, a local map indicative of a second set of one or more obstacles within a first portion of the physical space;
determine, based on the global map and the local map, a differential map wherein the differential map is representative of a third set of one or more obstacles that are one of:
represented in the global map and not in the local map, or
represented in the local map and not in the global map;
determine, based on the differential map, a first cluster representative of a first area within the physical space that includes at least a portion of the third set of the one or more obstacles;
determine one or more characteristics of the first cluster, wherein the one or more characteristics comprise:
a first distance extending from a geometric center of the first cluster to a farthest point of the first cluster, and
a first fill ratio based on (i) a portion of the first area that is deemed occupied by an obstacle and (ii) a second area of a circle with a radius of the first distance:
compare the first distance to a first threshold;
compare the first fill ratio to a second threshold;
determine, based on the comparison of the first distance to the first threshold and the comparison of the first fill ratio to the second threshold, that the first cluster represents an obstacle or an anomaly;
determine a first action associated with the first cluster; wherein the first action causes the AMD to move within the physical space and
perform the first action.