Localization by Learning of Wave-Signal Distributions
5 Assignments
0 Petitions
Accused Products
Abstract
A robot having a signal sensor configured to measure a signal, a motion sensor configured to measure a relative change in pose, a local correlation component configured to correlate the signal with the position and/or orientation of the robot in a local region including the robot'"'"'s current position, and a localization component configured to apply a filter to estimate the position and optionally the orientation of the robot based at least on a location reported by the motion sensor, a signal detected by the signal sensor, and the signal predicted by the local correlation component. The local correlation component and/or the localization component may take into account rotational variability of the signal sensor and other parameters related to time and pose dependent variability in how the signal and motion sensor perform. Each estimated pose may be used to formulate new or updated navigational or operational instructions for the robot.
5 Citations
68 Claims
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1-48. -48. (canceled)
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49. An autonomous mobile robot comprising:
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a signal sensor configured to detect a portion of a signal emitted into an environment of the robot and provide a value representing a property of the detected portion of the signal; a movement system configured to move the robot along a floor surface of the environment; a motion sensor configured to detect a motion of the robot; a controller configured to; determine a predicted value of the property of the detected portion of the signal for a particular pose of the robot, estimate a pose of the robot based at least in part on the provided value of the property, the detected motion of the robot, and the predicted value of the property for the particular pose, and control, based on the estimated pose, an operation of the movement system to navigate the robot about the floor surface. - View Dependent Claims (50, 51, 52, 53, 54, 55, 56, 57, 58)
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59. A method of navigating an autonomous mobile robot through an environment, the method comprising:
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detecting a portion of a signal emitted into the environment; determining a value representing a property of the detected portion of the signal; detecting a motion of the robot along a floor surface of the environment; determining a predicted value of the property of the signal for a particular pose of the robot; estimating a pose of the robot based at least in part on the determined value of the property, the detected motion of the robot, and the predicted value of the property; and navigate the robot about the floor surface based on the estimated posed. - View Dependent Claims (60, 61, 62, 63, 64, 65, 66, 67, 68)
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Specification