US 12,481,960 B1
Method and system for robotic platform control and multi-dimensional model environment reconstruction
Mohammed Hanif Kabir, Mountain View, CA (US); Parker Chase Lusk, Clermont, FL (US); and Yue Wu, Mountain View, CA (US)
Assigned to Corvus Robotics, Inc., Mountain View, CA (US)
Filed by Corvus Robotics, Inc., Mountain View, CA (US)
Filed on Feb. 11, 2025, as Appl. No. 19/050,499.
Int. Cl. G06Q 10/087 (2023.01); B64U 10/14 (2023.01); B64U 101/30 (2023.01); B64U 101/70 (2023.01); G06V 20/40 (2022.01)
CPC G06Q 10/087 (2013.01) [B64U 10/14 (2023.01); G06V 20/41 (2022.01); B64U 2101/30 (2023.01); B64U 2101/70 (2023.01)] 18 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
receiving sensor data indicative of a slot within a warehouse environment;
analyzing the sensor data to extract dimensional measurements associated with the slot, the dimensional measurements comprising a volume of the slot;
generating, based on the dimensional measurements, a reconstruction of the slot within the warehouse environment, wherein generating the reconstruction comprises:
determining a classification of at least one of a visible object and a partially visible object contained within the volume of the slot;
determining, based on the classification, one or more cuboids associated with at least one of the visible object or the partially visible object, the one or more cuboids comprising a three dimensional representation of the visible object or partially visible object,
determining, based on the one or more cuboids, one or more void detections within the volume of the slot, wherein the one or more void detections comprise an occluded volume within the volume of the slot;
determining, based on the reconstruction of the slot and the occluded volume of the slot, a number of occluded objects, wherein determining the number of occluded objects comprises:
determining a minimum number of occluded cuboids and a respective size of the minimum number of occluded cuboids that fill the occluded volume of the slot; and
determining, based on the minimum number of occluded cuboids, a total number of objects within the slot.