Patent ID: 11935292
Assignee: CARNEGIE ROBOTICS, LLC
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. A method of analysing a scene, room or venue comprising a plurality of navigation elements, the method comprising, at each of a plurality of positions in the scene/room/venue:
providing image data using an imaging element,
determining from the image data which navigation elements are visible from the pertaining position,
determining an angle from the imaging element to each of the visible navigation elements,
comparing the angle(s) to predetermined information and determining whether all visible navigation elements are positioned with angles according to the predetermined information and
if the comparison identifies that a navigation element has been displaced relative to the predetermined information, either:
repositioning the navigation element to the original position or
updating the predetermined information accordingly or
positioning the navigation element at a new position where, for each first position of the positions from which the navigation element at the new position is visible, angles exist to all navigation elements visible from the pertaining first position, and where no other position exists having angles toward all navigation elements visible from the other position, which angles are within 10 degrees of the angles toward the navigation elements visible from the pertaining first position, and/or

if the comparison identifies that a navigation element is missing relative to the predetermined information, either:
positioning a navigation element in the position of the missing navigation element or
updating the predetermined information accordingly or
positioning the navigation element at a new position where, for each first position of the positions from which the navigation element at the new position is visible, angles exist to all navigation elements visible from the pertaining first position, and where no other position exists having angles toward all navigation elements visible from the other position, which angles are within 10 degrees of the angles toward the navigation elements visible from the pertaining first position.