Mapping of an environment
A method 100 for mapping an environment is disclosed. The method includes obtaining navigation data from an autonomous robotic device (200, Fig. 2A). This data is used to identify a first room and a second, adjacent, room (502, 506, Fig.7) within the environment, by determining at least one endpoint...
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Zusammenfassung: | A method 100 for mapping an environment is disclosed. The method includes obtaining navigation data from an autonomous robotic device (200, Fig. 2A). This data is used to identify a first room and a second, adjacent, room (502, 506, Fig.7) within the environment, by determining at least one endpoint associated with a doorway between the rooms. An internal wall is identified using the endpoint. A path corresponding to the internal wall may be found, possibly optimising the trajectory using a cost function. Feature data may be recovered, representing objects (504a, Fig. 7) occupying locations in the environment, whose image may be deleted via flood-filling. Simultaneous localisation and mapping (SLAM) techniques may be employed. The width and/or height of features may be measured. Distance metrics may be defined and distances between doorways or other locations can be measured. The navigation data may represent a map. Doorways or halls may be identified by recognising overlapping areas/regions between rooms (Fig. 10). Graphs may be employed to illustrate trajectories. A remote terminal (1806, Fig. 27 A) may be employed by a user to interact with the robot. An associated system and computer program product are also disclosed. |
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