Simultaneous Localization And Mapping For A Mobile Robot
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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.
60 Citations
43 Claims
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1-22. -22. (canceled)
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23. A method comprising:
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maneuvering a robot about a scene; emitting light onto the scene; capturing images of the scene using a depth-perceptive imaging sensor, the images comprising an active illumination image and an ambient illumination image, each image comprising three-dimensional depth data and brightness data; determining a location of an object in the scene based on the images; assigning a confidence level for the location of the object based on the three-dimensional depth data and the brightness data of the images; and maneuvering the robot in the scene based on the location of the object and the corresponding confidence level. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43)
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Specification