PATENT CLAIM ANALYSIS

Application Number: 15906758
Application Type: Utility
Filing Date: 2018-02
Publication Date: 2018-07
Patent Classification: ["382", "153000"]

Abstract:
Examples described herein relate to mapping a space using a multi-directional camera. This mapping may be performed with a robotic device comprising a monocular multi-directional camera device and at least one movement actuator. The mapping may generate an occupancy map to determine navigable portions of the space. A robotic device movement around a point in a plane of movement may be instructed using the at least one movement actuator. Using the monocular multi-directional camera device, a sequence of images are obtained ( 610 ) at different angular positions during the instructed movement. Pose data is determined ( 620 ) from the sequence of images. The pose data is determined using features detected within the sequence of images. Depth values are then estimated ( 630 ) by evaluating a volumetric function of the sequence of images and the pose data. The depth values are processed ( 640 ) to populate the occupancy map for the space.

Claim (Index 24):
A non-transitory computer-readable storage medium comprising computer-executable instructions which, when executed by a processor, cause a computing device to map a space, wherein the instructions cause the computing device to:\n receive a sequence of frames from a monocular multi-directional camera, the multi-directional camera being arranged to capture image data for each of the frames from a plurality of angular positions, the sequence of frames being captured at different angular positions within a plane of movement for the space; determine location and orientation estimates for the camera for each frame by matching detected features across the sequence of frames; bundle adjust the location and orientation estimates for the camera and the detected features across the sequence of frames to generate an optimised set of location and orientation estimates for the camera; determine a reference frame from the sequence of frames; evaluate a photometric error function between pixel values for the reference frame and projected pixel values from a set of comparison images that overlap the reference frame, said projected pixel values being a function of an object distance from the camera and the optimised set of location and orientation estimates for the camera; determine object distances for different angular positions corresponding to different pixel columns of the reference frame based on the evaluated photometric error function; and generate a map of navigable areas within the plane of movement for the space based on the determined object distances.

Metadata:
- Claim Count in Document: 29.0
- Percentile: 88.0
- Lexical Diversity: 2.0625
- Patent Class: 382.0
- Transitional Phrase Type: open
- Component Type: 1
- Foreign Priority: True
- Related Applications: ['15515315', '15822637', '14162370', '15228459', '14253861']

Analysis Scores:
- 35 USC 101 Eligibility (BERT): 0.3194624097548203
- 35 USC 102 Novelty (BERT): 0.4735649213953269
- Combined Prediction Score: 0.3348726609188709
- Mean Citation Score: 174.38455600000003
- Max Citation Score: 180.90894
- Similarity Product: 136.6833175213337

Labels:
- Claim Label 101: 1
- Claim Label 102: 1
- Claim Label 103: 1
- Claim Label 112: 1
- Combined Label: 1
- Label 101 Adjusted: 1

Dataset: test