Patent ID: 9075938
Filing Date: 2015-07-07
Classification: G06F

Abstract:
1. A method for mapping a structure comprising a plurality of floors, the method performed by a computing device, the method comprising: detecting at least one set of anchor points on a plurality of maps, wherein the plurality of maps have been generated via at least one robot, the plurality of maps includes one map for each of at least two of the plurality of floors, the at least one set of anchor points comprises at least one anchor point on each of the plurality of maps corresponding to the at least two of the plurality of floors, all anchor points in the at least one set of anchor points have the same (x,y) coordinates, and wherein the detecting comprises: extracting a first shape and a limited radius around the first shape from a map for a first floor of the at least two of the plurality of floors; rotating the first shape at a plurality of different rotations; matching the rotated first shape to a second shape from a map of a second floor of the at least two of the plurality of floors; including a point from the first shape and a corresponding point from the second shape in the at least one set of anchor points, when the first shape is matched to the second shape; linking the at least one set of anchor points; and aligning the plurality of maps corresponding to the at least two of the plurality of floors around the at least one set of linked anchor points to produce a set of aligned maps.