3D Scanning Data Reduction for Autonomous Robots
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Solution Overview
Problem
The processing and storage of three-dimensional scanning data for autonomous robots, such as soil tillage robots, are hindered by the extensive nature of these measurements, leading to increased storage space and processing capacity requirements, and existing methods do not efficiently reduce redundant information without compromising data integrity or real-time processing capabilities.
Innovation Solution
A method that discards redundant measurements by identifying and removing those associated with planar surfaces, edges, and vertical components, allowing for a significant reduction in data while maintaining reproducibility, using a combination of distance sensors and optical scanning to provide a reduced yet lossless data set suitable for real-time processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional scanning measurements are collected comprehensively, then measurement precision and environmental data accuracy are improved, but storage space and processing capacity requirements increase
Solution Approach 1:
The patent extracts and removes redundant measurements from the three-dimensional scan data, specifically eliminating duplicate points and measurements that do not contribute to the geometric representation of objects. This extraction process reduces data volume while preserving the essential environmental information needed for robot navigation and mapping.
Solution Approach 2:
The patent applies different processing quality levels to different regions of the scan data. Critical regions containing object boundaries and relevant features are preserved with high measurement density, while redundant regions with overlapping or unnecessary measurements are reduced. This local differentiation maintains measurement precision where needed while reducing overall data volume.
2Loss of information
If comprehensive three-dimensional scanning is performed, then environmental data completeness is improved, but processing time and computational resources increase
Solution Approach 1:
The patent performs preliminary processing of the three-dimensional scan data by identifying and removing redundant measurements before the main processing steps. This preliminary action reduces the data volume that needs to be processed in subsequent steps, thereby reducing overall processing time while maintaining the completeness of essential environmental information.
Solution Approach 2:
The patent extracts and removes redundant measurements from the three-dimensional scan data, specifically eliminating duplicate points and measurements that do not contribute to the geometric representation of objects. This extraction process reduces data volume while preserving the essential environmental information needed for robot navigation and mapping.
3Reliability
If all scan measurements are retained, then data integrity is maintained, but storage requirements and processing load increase
Solution Approach 1:
The patent applies different processing quality levels to different regions of the scan data. Critical regions containing object boundaries and relevant features are preserved with high measurement density, while redundant regions with overlapping or unnecessary measurements are reduced. This local differentiation maintains data integrity where needed while reducing overall processing complexity.
Solution Approach 2:
The patent extracts and removes redundant measurements from the three-dimensional scan data, specifically eliminating duplicate points and measurements that do not contribute to the geometric representation of objects. This extraction process reduces data volume while preserving the essential environmental information needed for robot navigation and mapping.
Data Source
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AI summary
A method for providing environmental data to an autonomous robot comprises steps of scanning an object in an environment of the robot in a predetermined field of view, wherein the scanning comprises a plurality of measurements, each describing a point on the surface of the object with respect to the robot; determining measurements that are associated with a planar surface of the object; discarding several measurements that are associated with the surface; and providing the remaining measurements of the scanning.