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

Claim 0:
1. 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 edges of physical objects in an environment;
generating second range data using the range sensor on the robot when at a second location;
generating a first depth cloud based on the first range data and a second depth cloud based on the second range data, wherein the first and second depth clouds comprise points representing an edge of a physical object;
converting the first depth cloud into a first set of line segments and the second depth cloud into a second set of line segments;
identifying a plurality line segments from the first set that each match a respective one of the line segments in the second set to form matched line segments using an iterative closest vector (ICV) technique, wherein each of the matched line segments correspond to a same edge of a same physical object in the environment;
merging the matched line segments upon determining a covariance corresponding to an endpoint of a first matched line segment of the matched line segments overlaps a second matched line segment of the matched line segments; and
generating a vector map based on the merged line segments, wherein the vector map indicates the edges of the physical objects in the environment.