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Localization and mapping using physical features

  • US 10,500,722 B2
  • Filed: 03/07/2017
  • Issued: 12/10/2019
  • Est. Priority Date: 03/18/2015
  • Status: Active Grant
First Claim
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1. A method of navigating an autonomous cleaning robot within an area, the method comprising:

  • maneuvering the robot about the areawhile generating (i) data indicative of a robot pose relative to a physical layout of the area, or (ii) data indicative of the physical layout of the area, andwhile generating data indicative of a plurality of path segments adjacent one or more edges at least partially defining the physical layout of the area;

    in response to a robot pose confidence level being below a predetermined confidence limit, selecting a path segment from among the plurality of path segments and selecting a trajectory of the robot to approach a suspected location of the path segment from an initial location of the robot;

    maneuvering the robot from the initial location of the robot, along the selected trajectory, and toward the suspected location of the path segment; and

    in response to detecting the path segment within a distance from the suspected location of the path segment, updating (i) the data indicative of the robot pose or (i) the data indicative of the physical layout of the area.

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