Remote Motile Navigation Using Historical Pose and Touch Timing
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Solution Overview
Problem
Existing autonomously motile devices face challenges in accurately determining user inputs for navigation due to network latency and camera orientation issues, leading to discrepancies between intended and actual movement destinations.
Innovation Solution
The device employs a method to store historical position and orientation data, allowing it to determine the precise position and orientation at the time of user input, and translates camera orientation to device orientation, ensuring accurate movement calculations despite network latency and camera changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the device transmits images over a network for remote control, then users can control the device remotely, but network latency causes delays in determining user inputs and calculating movement
Solution Approach 1:
The system performs preliminary actions by capturing images and determining device position and orientation before the user input is processed. Historical data is stored in advance so that when a user input occurs, the calculation can proceed immediately without waiting for real-time data transmission, thus compensating for network latency.
Solution Approach 2:
The server acts as an intermediary that receives images from the device and determines position and orientation data. This intermediary processing allows the system to handle network transmission efficiently while maintaining accurate tracking of device state for subsequent movement calculations.
2Measurement precision
If the camera orientation is used to determine device position, then navigation accuracy can be improved, but camera orientation changes during transmission cause discrepancies between intended and actual destinations
Solution Approach 1:
The system determines the device's position and orientation based on the image captured at the time of user input, not at the time of transmission. This preliminary determination ensures that the navigation calculation uses the most current and accurate device state, eliminating errors caused by orientation changes during transmission.
Solution Approach 2:
The system continuously updates the device position and orientation data based on incoming images and uses this feedback to correct navigation calculations. By comparing the intended destination with the actual device state at the time of input, the system can adjust movements to reach the correct destination despite orientation changes.
Data Source
AI summary
Movement of an autonomously motile device may be controlled by a user device. The user device may display image data captured by a camera of the autonomously motile device; a user may provide input, such as a touch gesture on a display screen, indicating a command for the autonomously motile device to move to a location indicated by the input. The autonomously motile device determines a coordinate of the input and a time of the touch input; the autonomously motile device then determines a direction and distance of a corresponding movement.