System and Method for Localization of Robots
First Claim
1. A method for localization of robots in a territory of interest, comprising:
- updating, by a processor configured to compute an estimated pose of the mobile robot in a map of a territory of interest using a particle filter comprising a particle, a pose in the map of the particle;
deciding, by the processor, whether to retain the particle for the next cycle of the particle filter or to eliminate the particle for the next cycle of the particle filter;
and sampling the particle filter, by the processor, so as to achieve localization of robots in a territory of interest.
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Abstract
A method for localization of robots in a territory of interest includes: providing a mobile robot comprising a processor configured to compute an estimated pose of the mobile robot in a map of a territory of interest using a particle filter comprising a particle; updating, by the processor, a pose in the map of the particle; deciding, by the processor, whether to retain the particle for the next cycle of the particle filter or to eliminate the particle for the next cycle of the particle filter; and sampling the particle filter, by the processor, so as to achieve localization of robots in a territory of interest.
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Citations
93 Claims
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1. A method for localization of robots in a territory of interest, comprising:
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updating, by a processor configured to compute an estimated pose of the mobile robot in a map of a territory of interest using a particle filter comprising a particle, a pose in the map of the particle; deciding, by the processor, whether to retain the particle for the next cycle of the particle filter or to eliminate the particle for the next cycle of the particle filter; and sampling the particle filter, by the processor, so as to achieve localization of robots in a territory of interest. - View Dependent Claims (2, 3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66)
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7. The method of clam 6, wherein the location of the one or more known objects is included in the map by allowing a robotic perception module to detect the one or more known objects during the building of the map.
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67. A method for localization of robots in a territory of interest, comprising:
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building, by a processor configured to compute an estimated pose of the mobile robot in a territory of interest using a particle filter comprising a particle, a map of the territory of interest; updating, by the processor, a pose of the particle in the map; associating, by the processor, the particle with the particle pose; deciding, by the processor, whether to retain the particle for the next cycle of the particle filter or to eliminate the particle for the next cycle of the particle filter; sampling the particle filter, by the processor; and determining, by the processor, that further associating is not required to maintain enough particles for the particle filter to function, so as to achieve localization of robots in a territory of interest. - View Dependent Claims (68, 69, 70, 71, 72, 73, 74)
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75. A system for localization of robots in a territory of interest, comprising:
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a mobile robot comprising a processor, the mobile robot further comprising an actuator; and a sensor configured to measure the movement of the mobile robot, wherein the actuator comprises a microprocessor equipped with a program configured to execute steps in a particle-based method for robot localization, the steps comprising; updating, by the processor, a pose in a map of the particle; deciding, by the processor, whether to retain the particle for the next cycle of the particle filter or to eliminate the particle for the next cycle of the particle filter; and sampling the particle filter, by the processor, so as to achieve localization of robots in a territory of interest. - View Dependent Claims (76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93)
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Specification