公开(公告)号：US20240153230A1

公开(公告)日：2024-05-09

申请号：US18500768

申请日：2023-11-02

Applicant: Brown University

Inventor： Kaiyu ZHENG ,  Stefanie TELLEX

IPC: G06V10/25 ,  B25J9/16 ,  G06T7/70 ,  G06T15/06

CPC classification number: G06V10/25 ,  B25J9/1697 ,  G06T7/70 ,  G06T15/06 ,  G06V2201/07

Abstract: A method includes, in an automated machine equipped with one or more camera-based object detectors, receiving human-provided information or information inferred from point cloud observations regarding target locations, maintaining information states regarding the target locations through a probability distribution structured as an octree, initializing the information states based on point cloud observations, updating the information states based on object detection observations or point cloud observations, determining a search region occupancy through constructing an octree-based occupancy grid based on point cloud observations, and using ray-tracing to determine visibility at three dimensional locations within the search region.