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

Claim 13:
14. A robot, comprising:
a movement system configured to move the robot through an environment;
a range sensor configured to:
generate first range data when the robot is at a first location, and
generate second range data when the robot is at a second location;

a line generator configured to identify a first set of line segments from the first range data and a second set of line segments from the second range data; and
a line merger configured to:
match 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.