Support Structure Detection Using Depth Sensor Segmentation
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Solution Overview
Problem
In complex and dynamic environments such as retail facilities, mobile apparatuses face challenges in accurately detecting support structures due to their complex and fluid nature, making it computationally demanding.
Innovation Solution
A method and apparatus that utilize depth sensors to capture and process depth measurements, generating a support structure plane definition by selecting a subset of projected depth measurements, retrieving candidate depth measurements, and generating a region of interest to improve detection accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional detection methods are used in complex and dynamic environments, then the mobile apparatus can operate in retail facilities, but the detection accuracy of support structures deteriorates and computational demand increases
Solution Approach 1:
The patent segments the detection process into multiple stages: capturing depth measurements, generating projected depth measurements, selecting boundary sets, identifying candidate subsets, and generating support structure plane definitions. This segmentation allows complex detection to be broken down into manageable computational steps, improving accuracy without overwhelming computational resources.
Solution Approach 2:
The patent applies local quality by focusing computational resources on critical regions. By selecting boundary sets of projected depth measurements and then identifying candidate subsets within regions of interest, the system concentrates processing power where it is most needed (at boundaries and potential support structure locations) rather than uniformly processing all depth measurements.
2Measurement precision
If comprehensive depth measurements are processed to improve detection accuracy, then support structure detection becomes more precise, but processing time and computational load increase
Solution Approach 1:
The patent extracts only the necessary subset of depth measurements for processing. By generating projected depth measurements and selecting boundary sets, then further filtering to candidate subsets within regions of interest, the system extracts only the critical data needed for accurate detection, discarding redundant information and significantly reducing processing time.
Solution Approach 2:
The patent applies partial action by processing only a candidate subset of depth measurements rather than all measurements. The multi-stage filtering process (boundary set selection → region of interest identification → candidate subset extraction) ensures that only the necessary portion of data is processed, achieving accurate detection with reduced computational effort.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances the accuracy and efficiency of support structure detection, allowing mobile automation systems to navigate and capture data effectively in dynamic environments.
Implementation Method 1
controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing the support structure
Data Source
AI summary
A method of detecting a support structure in a navigational controller includes: controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing the support structure on a ground plane; generating, for each of the depth measurements, a projected depth measurement on the ground plane; selecting a boundary set of the projected depth measurements defining a boundary of the projection; selecting, based on angles between adjacent pairs of the boundary set of projected depth measurements, a subset of the projected depth measurements; generating a region of interest based on the subset of the projected depth measurements; retrieving a candidate subset of the depth measurements corresponding to the projected depth measurements in the region of interest; and generating a support structure plane definition based on the candidate subset of depth measurements.