	US 12,148,170 B2
	Remote camera-assisted robot guidance
Donald Gerard Madden, Columbia, MD (US); and Ethan Shayne, Clifton Park, NY (US)
Assigned to ObjectVideo Labs, LLC, Tysons, VA (US)
Filed by ObjectVideo Labs, LLC, Tysons, VA (US)
Filed on Mar. 13, 2023, as Appl. No. 18/120,491.
Application 18/120,491 is a continuation of application No. 17/173,550, filed on Feb. 11, 2021, granted, now 11,610,320.
Claims priority of provisional application 62/978,669, filed on Feb. 19, 2020.
Prior Publication US 2023/0215017 A1, Jul. 6, 2023
Int. Cl. G06T 7/20 (2017.01); G01C 21/20 (2006.01); G05D 1/00 (2006.01); G06T 7/70 (2017.01); G06V 20/52 (2022.01); G06V 40/20 (2022.01); G07C 9/00 (2020.01); H04N 7/18 (2006.01)

CPC G06T 7/20 (2013.01) [G01C 21/20 (2013.01); G05D 1/0246 (2013.01); G06T 7/70 (2017.01); G06V 20/52 (2022.01); G06V 40/20 (2022.01); G07C 9/00174 (2013.01); H04N 7/183 (2013.01); G06T 2207/30232 (2013.01); G06T 2207/30241 (2013.01)]

19 Claims

1. A method, comprising:

obtaining, by a system comprising one or more processors, sensor data representing an autonomous vehicle;

identifying, by the system, one or more movement structures of the autonomous vehicle that a) are represented by the sensor data and b) enable the autonomous vehicle to traverse a physical environment;

determining, by the system, a destination for the autonomous vehicle;

selecting, by the system, a path from a set of candidate paths to the destination using the identified one or more movement structures of the autonomous vehicle, each path of the set of candidate paths having at least one corresponding trajectory, wherein selecting the path comprises:

selecting, using a particular movement structure of the identified one or more movement structures of the autonomous vehicle, the path that is a different path than would be selected for a different movement structure of the identified one or more movement structures of the autonomous vehicle; and

instructing, by the system, the autonomous vehicle to travel along the selected path.