ROBOT LOCALIZATION AND MAPPING ACCOMMODATING NON-UNIQUE LANDMARKS

Robot localization or mapping can be provided without requiring the expense or complexity an "at-a-distance" sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pos...

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Bibliographic Details
Main Authors Gritsenko, Artem, Tamino, Daniele, Li, Guanlai, Psarakis, Zacharias, Karapetyan, Vazgen
Format Patent
LanguageEnglish
Published 30.11.2023
Subjects
CONTROLLING
PHYSICS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Summary:Robot localization or mapping can be provided without requiring the expense or complexity an "at-a-distance" sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pose can be tracked and compared to an adaptive threshold, and non-dock and dock-based localization behavior can be controlled based on the uncertainty, the adaptive threshold, one or more other thresholds, and the accessibility of available differently oriented landmark features, such as perpendicularly oriented straight wall segments landmark features. Available features can be sorted according to a quality metric, and path planning and navigation techniques are also included for helping obtain successful wall-following and localization observations.
Bibliography:Application Number: US202318202413