Patents by Inventor Tze Fung Christopher Chan

Tze Fung Christopher Chan has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20200379480
    Abstract: A method in a navigational controller includes: controlling a ceiling-facing camera of a mobile automation apparatus to capture a stream of images of a facility ceiling; activating a primary localization mode including: (i) detecting primary features in the captured image stream; and (ii) updating, based on the primary features, an estimated pose of the mobile automation apparatus and a confidence level corresponding to the estimated pose; determining whether the confidence level exceeds a confidence threshold; when the confidence level does not exceed the threshold, switching to a secondary localization mode including: (i) detecting secondary features in the captured image stream; (ii) updating the estimated pose and the confidence level based on the secondary features; and (iii) searching the image stream for the primary features; and responsive to detecting the primary features in the image stream, re-activating the primary localization mode.
    Type: Application
    Filed: June 3, 2019
    Publication date: December 3, 2020
    Inventors: Mehdi Mazaheri Tehrani, Mahyar Vajedi, Feng Cao, Tze Fung Christopher Chan
  • Publication number: 20200380715
    Abstract: A method of detecting an end of an aisle of shelf modules in an imaging controller of a mobile automation apparatus, includes: obtaining image data captured by an image sensor and a plurality of depth measurements captured by a depth sensor, the image data and the depth measurements corresponding to an area containing a portion of the aisle of shelf modules; obtaining locomotive data of the apparatus; generating a dynamic trust region based on the locomotive data; detecting an edge segment based on the image data and the plurality of depth measurements, the edge segment representing an edge of a support surface; and when the edge segment is located at least partially in the dynamic trust region, updating an estimated end of the aisle based on the detected edge segment.
    Type: Application
    Filed: June 3, 2019
    Publication date: December 3, 2020
    Inventors: Tze Fung Christopher Chan, Feng Cao, Mehdi Mazaheri Tehrani, Mahyar Vajedi
  • Publication number: 20200380694
    Abstract: A method of detecting an edge of a support surface in an imaging controller includes: obtaining image data captured by an image sensor and a plurality of depth measurements captured by a depth sensor, the image data and the plurality of depth measurements corresponding to an area containing the support surface; detecting preliminary edges in the image data; applying a Hough transform to the preliminary edges to determine Hough lines representing candidate edges of the support surface; segmenting the plurality of depth measurements to assign classes to each pixel, each class defined by one of a plurality of seed pixels, wherein the plurality of seed pixels are identified from the depth measurements based on the Hough lines; and detecting the edge of the support surface by selecting a class of pixels and applying a line-fitting model to the selected class to obtain an estimated edge of the support surface.
    Type: Application
    Filed: June 3, 2019
    Publication date: December 3, 2020
    Inventors: Tze Fung Christopher Chan, Feng Cao, Mehdi Mazaheri Tehrani, Mahyar Vajedi