Patent ID: 9205562
Filing Date: 2015-12-08
Classification: B25J,G05B,Y10S

Abstract:
1. A method, comprising: receiving, from at least one depth sensor, a plurality of detected depth points indicative of depths of at least one surface within an environment along rays from the at least one depth sensor; determining, by a computing device, a projection of the plurality of detected depth points onto a plane within the environment; identifying, by the computing device, a plurality of first detected points from the plurality of detected depth points, wherein a first detected point comprises a first point at a particular location of the plane in the projection; storing, by the computing device, digital entries corresponding to points located within a threshold buffer from one of the first detected points relative to the plane; determining, by the computing device, values for the digital entries, wherein a value for a digital entry corresponding to a particular point comprises an accumulation of distances from detected depth points along one or more of the rays that cross the particular point; and determining, by the computing device, a digital height map representative of heights of the at least one surface in the environment relative to the plane, wherein the heights of the at least one surface at particular locations in the digital height map are determined based on points where the values for the digital entries cross zero.