Simultaneous Localization And Mapping For A Mobile Robot
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Abstract
A method of simultaneous localization and mapping includes initializing a robot pose and a particle model of a particle filter. The particle model includes particles, each having an associated map, robot pose, and weight. The method includes receiving sparse sensor data from a sensor system of the robot, synchronizing the received sensor data with a change in robot pose, accumulating the synchronized sensor data over time, and determining a robot localization quality. When the accumulated sensor data exceeds a threshold accumulation and the robot localization quality is greater than a threshold localization quality, the method includes updating particles with accumulated synchronized sensor data. The method includes determining a weight for each updated particle of the particle model and setting a robot pose belief to the robot pose of the particle having the highest weight when a mean weight of the particles is greater than a threshold particle weight.
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Citations
58 Claims
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1-29. -29. (canceled)
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30. A method comprising:
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receiving, at a computing device, sensor data from an autonomous mobile robot operating in a work environment; updating, using the computing device, an occupancy map of the work environment with location occupancy probabilities based on the received sensor data; determining, using the computing device, a localization quality of the autonomous mobile robot; and when the localization quality does not satisfy a threshold localization quality, executing, using the computing device, a wall-following behavior that causes the autonomous mobile robot to maneuver toward a wall in the work environment and drive adjacent to the wall until the localization quality satisfies the threshold localization quality. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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45. A method comprising:
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receiving, at a computing device, sensor data from an autonomous mobile robot operating in a work environment; updating, using the computing device, an occupancy map of the work environment with location occupancy probabilities based on the received sensor data; determining, using the computing device, a localization quality of the autonomous mobile robot; and when the localization quality does not satisfy a threshold localization quality; identifying, using the computing device, a mapped object on the occupancy map; and issuing a drive command from the computing device to a drive system of the autonomous mobile robot to maneuver the autonomous mobile robot toward the mapped object in the work environment to re-localize the autonomous mobile robot based on the sensor data. - View Dependent Claims (46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58)
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Specification