Re-localization of a robot for slam
First Claim
1. A method of estimating a pose of a robot, the method comprising:
- computing the pose of the robot through simultaneous localization and mapping as the robot moves along a surface to generate one or more maps, wherein the pose comprises position and orientation of the robot;
navigating the robot such that the robot cleans the surface in a methodical manner;
determining that navigation of the robot has been paused by a user-initiated pausing event, and after resuming navigation of the robot;
re-localizing the robot within a map of the one or more maps;
after re-localizing, returning the robot to a previous pose prior to resuming cleaning, wherein the previous prior pose is from a time prior to the user-initiated pausing event, wherein the prior pose comprises a prior position and a prior orientation; and
resuming cleaning of the surface in the methodical manner.
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Abstract
Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.
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Citations
38 Claims
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1. A method of estimating a pose of a robot, the method comprising:
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computing the pose of the robot through simultaneous localization and mapping as the robot moves along a surface to generate one or more maps, wherein the pose comprises position and orientation of the robot; navigating the robot such that the robot cleans the surface in a methodical manner; determining that navigation of the robot has been paused by a user-initiated pausing event, and after resuming navigation of the robot; re-localizing the robot within a map of the one or more maps; after re-localizing, returning the robot to a previous pose prior to resuming cleaning, wherein the previous prior pose is from a time prior to the user-initiated pausing event, wherein the prior pose comprises a prior position and a prior orientation; and resuming cleaning of the surface in the methodical manner. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. An apparatus comprising:
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a robot; and a controller of the robot configured to; compute a pose of the robot through simultaneous localization and mapping as the robot moves along a surface to generate one or more maps, wherein the pose comprises a position and orientation of the robot; navigate the robot such that the robot cleans the surface in a methodical manner; determine that navigation of the robot has been paused by a user-initiated pausing event, and after resumption of navigation of the robot; re-localize the robot within a map of the one or more maps; return the robot to a previous pose prior to resumption of cleaning, wherein the previous prior pose is from a time prior to the user-initiated pausing event, wherein the prior pose comprises a prior position and a prior orientation; and resume cleaning of the surface in the methodical manner. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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Specification