Lost vehicle recovery utilizing associated feature pairs
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United States of America Patent
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May 24, 2016
Issued Date -
N/A
app pub date -
Jun 26, 2015
filing date -
Jun 27, 2014
priority date (Note) -
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status (Latency Note)
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Abstract
According to the embodiments described herein, a method for lost vehicle recovery utilizing associated feature pairs may include, for a materials handling vehicle determined to be lost, creating a plurality of associated feature pairs by retrieving a subsequent set of camera data from a camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each formed pair with pairs from each of a plurality of three-dimensional global feature points of an industrial facility map. The method may further include calculating a best estimate pose from calculated vehicle poses of the associated feature pairs based on a highest-rated pair of the plurality of associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position, updating the seed position as the current localized position, and operating the materials handling vehicle utilizing the updated seed position.
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International Classification(s)
- G06T:IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- B60R:VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT ....
- G06F:ELECTRIC DIGITAL DATA PROCESSING
- G05D:SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC....
- G01C:MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING....
- G01B:MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIME....
- G06K:RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD ....
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