Robot localization and mapping accommodating non-unique landmarks
US12429888B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 26, 2023 |
| Grant date | Sep 30, 2025 |
| Priority date | — |
| Expiry date | Jan 18, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/86
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.