US 11,720,100 B2
Systems and methods for utilizing semantic information for navigation of a robotic device
Xiaohui Liu, Beijing (CN); Yibo Jiang, Shanghai (CN); Jiangtao Ren, Beijing (CN); Lei Xu, Beijing (CN); and Yanming Zou, Beijing (CN)
Assigned to QUALCOMM Incorporated, San Diego, CA (US)
Appl. No. 16/621,518
Filed by QUALCOMM Incorporated, San Diego, CA (US)
PCT Filed Mar. 14, 2018, PCT No. PCT/CN2018/078960
§ 371(c)(1), (2) Date Dec. 11, 2019,
PCT Pub. No. WO2019/019660, PCT Pub. Date Jan. 31, 2019.
Prior Publication US 2020/0097006 A1, Mar. 26, 2020
Int. Cl. G05D 1/00 (2006.01); G06T 7/521 (2017.01); G06T 7/70 (2017.01); G05B 19/4155 (2006.01); G06T 1/00 (2006.01); G07C 5/04 (2006.01); G07C 5/08 (2006.01); G01S 19/49 (2010.01); G05D 1/02 (2020.01); G01S 19/48 (2010.01)
CPC G05D 1/0088 (2013.01) [G05B 19/4155 (2013.01); G06T 1/0014 (2013.01); G06T 7/521 (2017.01); G06T 7/70 (2017.01); G07C 5/04 (2013.01); G07C 5/085 (2013.01); G07C 5/0808 (2013.01); G01S 19/485 (2020.05); G01S 19/49 (2013.01); G05B 2219/50391 (2013.01); G05D 1/027 (2013.01); G05D 1/0231 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01)] 35 Claims
OG exemplary drawing
 
1. A method of improving navigation, the method comprising:
initiating, by a processor in a robotic device, a start of a predetermined time period associated with semantic information extraction;
detecting, during the predetermined period, an adverse event that indicates sensor unreliability of the one or more sensors;
in response to detecting the adverse event that indicates sensor unreliability of the one or more sensors:
identifying a current time slot of the predetermined time period;
identifying a current estimated position and orientation of the robotic device; and
recording updates to semantic information stored for the one or more sensors based on the current time slot and the current estimated position and orientation of the robotic device; and
identifying a pattern of adverse events for a position and orientation of robotic device based on the recorded semantic information after the end of the predetermined time period.