PATENT CLAIM ANALYSIS

Application Number: 15964192
Application Type: Utility
Filing Date: 2018-04
Publication Date: 2018-08
Patent Classification: ["701", "028000"]

Abstract:
According to the embodiments described herein, a method for vehicle positioning or navigation utilizing associated feature pairs may include creating a plurality of associated feature pairs by retrieving an initial set of camera data from the camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each pair from the UV space information with pairs from each of the plurality of three-dimensional global feature points of the industrial facility map, calculating a best estimate poses from calculated vehicle poses of the associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position and setting a seed position as the current localized position. The navigation of the materials handling vehicle is tracked and/or navigated along the inventory transit surface navigate in at least a partially automated manner utilizing the current localized position.

Claim (Index 8):
The materials handling vehicle of  claim 1 , wherein the calculation of a vehicle pose for each associated feature pair within a visual range of the camera is based at least in part on use of a global localization algorithm, wherein the global localization algorithm comprises a formula to calculate a yaw of the vehicle about a first UV space feature of an associated feature pair that comprises an anchored feature, wherein the formula comprises: N \ue89e \ue89e is \ue89e \ue89e a \ue89e \ue89e cross \ue89e \ue89e product \ue89e \ue89e of \ue89e \ue89e two \ue89e \ue89e 3 \ue89e D \ue89e \ue89e vectors ; ( i ) T \ue89e \ue89e is \ue89e \ue89e a \ue89e \ue89e target \ue89e \ue89e 3 \ue89e D \ue89e \ue89e point \ue89e \ue89e for \ue89e \ue89e yaw \ue89e \ue89e rotation ; ( ii ) D = N x 2 * N y 2 ( iii ) Y offst = 2 * tan - 1 ( N x N x 2 + N y 2 + N y ) ; and ( iv ) Y = { undefined , if \ue89e \ue89e N z \u2260 0 , and \ue89e \ue89e \uf603 T z T x 2 + T y 2 \uf604 > \uf603 D N z \uf604 , and \ue89e \ue89e D * T x - N z * T z = 0 - Y offset , if \ue89e \ue89e \uf603 \uf603 T x T y \uf604 - \uf603 N z D \uf604 \uf604 < 0.001 \ue89e \ue89e and \ue89e \ue89e T y > 0 \u03c0 - Y offset , if \ue89e \ue89e \uf603 \uf603 T x T y \uf604 - \uf603 N z D \uf604 \uf604 < 0.001 \ue89e \ue89e and \ue89e \ue89e T y < 0 2 * tan - 1 ( D * T y D * T x - N z * T z - D 2 * ( T x 2 * T y 2 ) - N z 2 * T z 2 D * T x - N z * T z ) - Y offset , otherwise . ( v )

Metadata:
- Claim Count in Document: 50.0
- Percentile: 91.0
- Lexical Diversity: 1.80723
- Patent Class: 701.0
- Transitional Phrase Type: none
- Component Type: 0
- Foreign Priority: False
- Related Applications: ['14751383', '14751375', '14488659', '15617423', '14488660']

Analysis Scores:
- 35 USC 101 Eligibility (BERT): 0.4961998759191898
- 35 USC 102 Novelty (BERT): 0.6123390614578098
- Combined Prediction Score: 0.5078137944730517
- Mean Citation Score: 355.769502
- Max Citation Score: 573.19495
- Similarity Product: 511.88564313020106

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