US 12,466,068 B1
Filtering object detection based on agreement with environment and related technology
Robert DeBortoli, Corvallis, OR (US); Brent Griffin, Dexter, MI (US); and Anand Rajaraman, Somerville, MA (US)
Assigned to Agility Robotics, Inc., Salem, OR (US)
Filed by Agility Robotics, Inc., Pittsburgh, PA (US)
Filed on Jul. 24, 2023, as Appl. No. 18/357,625.
Claims priority of provisional application 63/501,136, filed on May 9, 2023.
Int. Cl. B25J 9/16 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1679 (2013.01) [B25J 9/163 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B62D 57/032 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
generating, by data-processing hardware operably associated with a mobile robot, a putative object estimate;
determining, by the data-processing hardware, a location of a fiducial marker within a working environment in which the mobile robot operates;
determining, by the data-processing hardware, a location of a support structure within the working environment based at least partially on the location of the fiducial marker;
determining, by the data-processing hardware, an expected object location in the working environment, wherein the expected object location is an object-carrying location of the support structure, and wherein determining the expected object location includes determining the expected object location based at least partially on the location of the support structure and known structure data corresponding to the support structure;
determining, by the data-processing hardware, a correspondence between the putative object estimate and the expected object location;
processing, by the data-processing hardware, the putative object estimate based at least partially on the correspondence, wherein processing the putative object estimate includes validating the putative object estimate; and
controlling the mobile robot based at least partially on a result of processing the putative object estimate, wherein controlling the mobile robot includes controlling the mobile robot to retrieve an object from the expected object location.