USING ADJUSTABLE VISION COMPONENT FOR ON-DEMAND VISION DATA CAPTURE OF AREAS ALONG A PREDICTED TRAJECTORY OF A ROBOT
Implementations set forth herein relate to a robot that employs a stereo camera and LIDAR for generating point cloud data while the robot is traversing an area. The point cloud data can characterize spaces within the area as occupied, unoccupied, or uncategorized. For instance, an uncategorized space can refer to a point in three-dimensional (3D) space where occupancy of the space is unknown and/or where no observation has been made by the robot—such as in circumstances where a blind spot is located at or near a base of the robot. In order to efficiently traverse certain areas, the robot can estimate resource costs of either sweeping the stereo camera indiscriminately between spaces and/or specifically focusing the stereo camera on uncategorized space(s) during the route. Based on such resource cost estimations, the robot can adaptively maneuver the stereo camera during routes while also minimizing resource consumption by the robot.
1 . A method implemented by one or more processors, the method comprising:
while a robot is navigating through an environment:
capturing instances of first vision data using a fixed vision component that has a fixed pose relative to a robot frame of the robot and a first field of view,
wherein the fixed vision component and an adjustable vision component are operatively coupled to the robot;
adjusting, while capturing the instances of first vision data, the adjustable vision component through various poses of the adjustable vision component relative to the robot frame,
wherein the adjustable vision component has a second field of view that is more constrained than the first field of view of the fixed vision component;
capturing instances of second vision data using the adjustable vision component,
wherein the instances of second vision data are captured when the adjustable vision component is positioned into multiple different poses of the various poses of the adjustable vision component; and
controlling navigation of the robot based on both: the instances of the first vision data and the instances of the second vision data.
2 . The method of claim 1 , wherein the robot includes an adjustable appendage, and adjusting the adjustable vision component through the various poses includes:
determining a particular pose, of the various poses, to which to adjust the adjustable vision component,
determining whether the adjustable appendage will, if unaltered, block at least a threshold amount of the second field of view of the adjustable vision component when the adjustable vision component is adjusted to the particular pose, and
when it is determined that the adjustable appendage will, if unaltered, block at least the threshold amount of the second field of view when the adjustable vision component is adjusted to the particular pose:
controlling the adjustable appendage to maneuver the adjustable appendage into an alternate pose before and/or during adjustment of the adjustable vision component into the particular pose.
3 . The method of claim 2 , further comprising:
when the adjustable appendage is determined to, if unaltered, not block at least the threshold amount of the second field of view when the adjustable vision component is adjusted to the particular pose:
bypassing controlling the adjustable appendage to maneuver the adjustable appendage into the alternate pose before and/or during the adjustment of the adjustable vision component into the particular pose.
4 . The method of claim 2 , further comprising:
selecting the alternate pose, from a plurality of candidate alternate poses, based at least in part on a determined distance between the alternate pose and a current pose of the adjustable appendage.
5 . The method of claim 2 , further comprising:
selecting the alternate pose based at least in part on determining that the adjustable appendage, at the alternate pose, will not block the second field of view of the adjustable vision component when the adjustable vision component is adjusted to the particular pose.
6 . The method of claim 1 , wherein the fixed vision component is a rotating light detection and ranging (LIDAR) component.
7 . The method of claim 6 , wherein the adjustable vision component is an active stereographic camera or a passive stereographic camera.
8 . The method of claim 1 , wherein adjusting the adjustable vision component through the various poses of the adjustable vision component comprises:
determining, during the navigating, that the robot will navigate toward an area that is in a blind spot of the fixed vision component;
determining a given pose, of the various poses of the adjustable vision component, based on the given pose directing the first field of view of the adjustable vision component toward the area; and
adjusting the adjustable vision component to the given pose in advance of the robot navigating toward the area.
9 . The method of claim 1 , wherein adjusting the adjustable vision component through the various poses of the adjustable vision component comprises:
detecting, during the navigating and based on at least one of the instances of first vision data, a dynamic object in the environment;
determining a given pose, of the various poses of the adjustable vision component, based on the given pose directing the first field of view of the adjustable vision component toward a current location of the dynamic object; and
adjusting the adjustable vision component to the given pose.
10 . The method of claim 1 , wherein adjusting the adjustable vision component through the various poses of the adjustable vision component comprises:
determining a particular area of the environment during the navigating, wherein determining the particular area is based at least in part on a duration of time since the particular area has been captured in at least one of the instances of the second vision data;
determining a given pose, of the various poses of the adjustable vision component, based on the given pose directing the first field of view of the adjustable vision component toward the particular area; and
adjusting the adjustable vision component to the given pose.
11 . A robot, comprising:
a frame;
a fixed vision component that captures instances of first vision data and has a fixed pose relative to the frame;
an adjustable vision component that maneuvers through various poses relative to the frame while the fixed vision component is capturing the instances of first vision data,
wherein the fixed vision component has a first field of view that is more constrained than a second field of view of the adjustable vision component, and
wherein the adjustable vision component captures instances of second vision data; and
one or more motors that control a trajectory of the frame based on the instances of the first vision data and the instances of the second vision data.
12 . The robot of claim 11 , further comprising:
one or more processors, and
an adjustable arm,
wherein the one or more processors cause the adjustable vision component to maneuver through the various poses by performing operations that include:
determining a particular pose, of the various poses, to which to conform the adjustable vision component,
determining whether the adjustable arm will, if unaltered, be within the second field of view of the fixed vision component when the adjustable vision component is maneuvered into the particular pose, and
when it is determined that the adjustable arm will be within the second field of view when the adjustable vision component is maneuvered into the particular pose:
controlling the adjustable arm to maneuver the adjustable arm into an alternate pose before and/or during adjustment of the adjustable vision component into the particular pose.
13 . The robot of claim 12 , further comprising:
when it is determined that the adjustable arm will not be within the second field of view when the adjustable vision component is maneuvered into the particular pose:
bypassing controlling the adjustable arm to maneuver the adjustable arm into the alternate pose before and/or during adjustment of the adjustable vision component into the particular pose.
14 . The robot of claim 11 , wherein the fixed vision component is a rotating light detection and ranging (LIDAR) component and the adjustable vision component is an active stereographic camera.
15 . A method implemented by one or more processors, the method comprising:
determining, while a robot is traversing through an area, whether one or more spaces within the area are predicted to affect a route of the robot while the robot is traversing the area,
wherein the robot includes a first vision component and a second vision component for observing the one or more spaces, and the first vision component is different than the second vision component; and
when the area is determined to include one more spaces that are predicted to affect the route of the robot:
determining, for each space of the one or more spaces, a predicted amount of robot resources consumed by redirecting the second vision component in a direction of a respective space of the one or more spaces while the robot is traversing through the area,
selecting, based on determining the predicted amount of robot resources consumed for each space, a particular space of the one or more spaces,
wherein a particular amount of robot resources predicted for the particular space indicates that less robot resources will be consumed by the robot when redirecting the second vision component toward the particular space relative to redirecting the second vision component toward one or more other spaces of the one or more spaces,
causing, based on selecting the particular space, the second vision component to be redirected towards the particular space in furtherance of capturing, by the second vision component, vision data corresponding to the particular space, and
controlling the robot based on the vision data of the particular space, while the robot is traversing through the area.
16 . The method of claim 15 , wherein determining whether the one or more spaces within the area are predicted to affect the route of the robot while the robot is traversing the area includes:
determining whether the one or more spaces are located outside of a field of view of the first vision component.
17 . The method of claim 15 , wherein determining whether the one or more spaces within the area are predicted to affect the route of the robot while the robot is traversing the area includes:
determining whether the one or more spaces are located along a predicted trajectory of the robot.
18 . The method of claim 15 , wherein controlling the robot based on the vision data includes causing the robot to maneuver towards the particular space based on point cloud data that categorizes the particular space as unoccupied space.
19 . The method of claim 15 , wherein controlling the robot based on the vision data includes causing the robot to maneuver away from the particular space based on point cloud data that categorizes the particular space as occupied space.
20 . The method of claim 15 , further comprising:
when the one or more spaces are predicted to not affect the route of the robot:
causing, while the robot is traversing through the area, the second vision component to be directed toward the area indiscriminately with respect to a location of the one or more spaces.