Patent ID: 11860278
Assignee: AMAZON TECHNOLOGIES, INC.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 5:
6. A method comprising:
generating first range data using a range sensor on a robot when at a first location, wherein the first range data represents physical objects in an environment;
generating second range data using the range sensor on the robot when at a second location;
identifying a first set of line segments from the first range data and a second set of line segments from the second range data;
matching multiple line segments in the first set to respective ones of the line segments in the second set to form matched line segments based on (i) comparing translations and orientations of the line segments in the first and second sets and (ii) covariances assigned to endpoints of the line segments in the first and second sets, wherein each of the matched line segments corresponds to a same edge of a physical object in the environment;
generating a map of the environment based on the matched line segments; and
navigating the robot through the environment using the map.