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1. (WO2018222253) SYSTEM AND METHOD OF DYNAMICALLY FILTERING DEPTH ESTIMATES TO GENERATE A VOLUMETRIC MAP OF A THREE-DIMENSIONAL ENVIRONMENT HAVING AN ADJUSTABLE MAXIMUM DEPTH

Pub. No.:    WO/2018/222253    International Application No.:    PCT/US2018/023958
Publication Date: Fri Dec 07 00:59:59 CET 2018 International Filing Date: Sat Mar 24 00:59:59 CET 2018
IPC: G05D 1/00
Applicants: QUALCOMM INCORPORATED
Inventors: SWEET III, Charles Wheeler
WIERZYNSKI, Casimir
Title: SYSTEM AND METHOD OF DYNAMICALLY FILTERING DEPTH ESTIMATES TO GENERATE A VOLUMETRIC MAP OF A THREE-DIMENSIONAL ENVIRONMENT HAVING AN ADJUSTABLE MAXIMUM DEPTH
Abstract:
Various systems and methods of dynamically filtering depth estimates to generate a volumetric map of a three-dimensional (3-D) environment having an adjustable maximum depth include obtaining sensor output including depth estimates and pose estimates in a robotic vehicle, detecting a condition that corresponds to an error level in the pose estimates, filtering the depth estimates obtained from the sensor output based on the detected condition, and generating the volumetric map of the 3-D environment using the filtered depth estimates. Filtering depth estimates obtained from the sensor output based on the detected condition may include adjusting a maximum depth parameter for generating the volumetric map. Further embodiments include a robotic vehicle and/or a computing device within a robotic vehicle including a processor configured with processor-executable instructions for controlling the maximum depth of a volumetric map of a 3-D environment.