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

Claim 21:
22. A system for analysing a scene, room or venue comprising a plurality of navigation elements, the system comprising:
an imaging element configured to provide image data at each of a plurality of positions in the scene/room/venue,
a processor configured to, for each position:
determine, from the image data, an angle from the imaging element to one or more first navigation elements visible by the imaging element,
if:
a) the angles for all first navigation elements are below a first threshold angle relative to horizontal and
b) the lowest relative angles, when projected on to a horizontal plane, between the angles of all pairs of the first navigation elements either are below a second threshold angle lower than 90 degrees or above 180 degrees subtracted the second threshold angle,

then providing an additional navigation element in the room, venue or scene at a position from which the angle from the imaging element to the additional navigation element:
c) is above the first threshold angle relative to horizontal and/or
d) has a relative angle relative to an angle of a first navigation element which, when projected on to the horizontal plane, is between the second threshold angle and 180 degrees minus the second threshold angle.