Simultaneous localization and mapping for a mobile robot
US9037396B2 · kind B2 · utility
65Cited by
62References
20Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | May 23, 2013 |
| Grant date | May 19, 2015 |
| Priority date | — |
| Expiry date | Nov 23, 2033 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/47
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method of localizing a mobile robot includes receiving sensor data of a scene about the robot and executing a particle filter having a set of particles. Each particle has associated maps representing a robot location hypothesis. The method further includes updating the maps associated with each particle based on the received sensor data, assessing a weight for each particle based on the received sensor data, selecting a particle based on its weight, and determining a location of the robot based on the selected particle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.