Trajectory-based localization and mapping

US12137856B2 · kind B2 · utility

Assignee

• iRobot Corporation · US

Inventors

• Daniele Tamino · Bedford, US
• Artem Gritsenko · Malden, US
• Andrea M. Okerholm Huttlin · Needham, US
• Arman Karimian · Watertown, US
• Benjamin Pheil · Ontario, US
• Yao Chen · Nanhu, CN
• Renaud Moser · Pasadena, US
• Jose Luis Franco Monsalve · Pasadena, US

Key dates

• Filing date: Nov 22, 2021
• Grant date: Nov 12, 2024
• Expiry date: Jul 19, 2042

Classification

• Technology area (CPC G): Physics
• CPC primary: G01C21/383
• WIPO field: Control
• WIPO sector: Instruments

Abstract

An autonomous robot is maneuvered around a feature in an environment along a first trajectory. Data characterizing the first trajectory is stored as a trajectory landmark. The autonomous cleaning robot is maneuvered along a second trajectory. Data characterizing the second trajectory is compared to the trajectory landmark. Based on comparing the data characterizing the second trajectory to the trajectory landmark, it is determined that the first trajectory matches the second trajectory. A transform that aligns the first trajectory with the second trajectory is determined. The transform is applied to an estimate of a position of the autonomous cleaning robot as a correction of the estimate.