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Mobile human interface robot

  • US 8,918,209 B2
  • Filed: 02/22/2011
  • Issued: 12/23/2014
  • Est. Priority Date: 05/20/2010
  • Status: Active Grant
First Claim
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1. A mobile robot comprising:

  • a robot body;

    a drive system supported by the robot body, the drive system maneuvering the robot over a work surface of a scene and measuring odometry;

    an imaging sensor disposed on the robot body and pointing downward toward the work surface along a forward drive direction of the drive system, the imaging sensor capturing three-dimensional images of a scene about the robot; and

    a controller in communication with the drive system and the imaging sensor, wherein the controller;

    receives the odometry from the drive system and attributes one or more time stamps to the drive system odometry;

    receives point cloud signals from the imaging sensor and attributes one or more time stamps to the point cloud signals;

    determines visual odometry based on the received point cloud signals;

    compares the drive system odometry and the visual odometry based on the time stamps;

    determines an error between the drive system odometry and the visual odometry; and

    issues drive commands to the drive system based at least in part on the error between the drive system odometry and the visual odometry.

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