公开(公告)号：US20240338035A1

公开(公告)日：2024-10-10

申请号：US18293990

申请日：2021-10-13

Applicant: QUALCOMM Incorporated

Inventor： Jiangtao REN ,  Lei XU, Jr. ,  Hao XU ,  Yanming ZOU ,  Ruowei WANG ,  Lei MA ,  Xiaolong SHI ,  Jingwei RAO

IPC: G05D1/644 ,  G05D105/80 ,  G06T7/246 ,  G06T7/579

CPC classification number: G05D1/6445 ,  G06T7/246 ,  G06T7/579 ,  G05D2105/87 ,  G06T2207/30241 ,  G06T2207/30252

Abstract: Embodiments include methods executed by a processor of a robotic device for selecting a frontier goal for autonomous map building within a space, including determining trajectory costs for the robotic device traversing from an occupied area to each of a plurality of available frontier goals, wherein the plurality of available frontier goals include positions within the space from which the robotic device is configured to collect information to autonomously build a map of the space, determining co-visibility costs for each of the plurality of available frontier goals, determining a frontier cost for each of the plurality of available frontier goals based on a difference between the trajectory cost and the co-visibility cost of the respective available frontier goal; and selecting one of the plurality of available frontier goals having a lowest determined frontier cost.