Methods and apparatus for position estimation using reflected light sources

  • US 8,780,342 B2
  • Filed: 10/12/2012
  • Issued: 07/15/2014
  • Est. Priority Date: 03/29/2004
  • Status: Active Grant
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First Claim
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1. A mobile robot system, the system comprising:

  • a mobile robot;

    a modulator;

    a first illumination projector coupled to the modulator, wherein the modulator is configured to modulate light from the first illumination projector, wherein the first illumination projector is configured to project modulated light, whereby at least one projected illumination spot is projected onto at least one non-vertical surface positioned above the first illumination projector when the first illumination projector is positioned for operation with the mobile robot;

    a detector configured to detect the at least one projected illumination spot based at least in part on the modulation; and

    a data processing unit configured to;

    determine a direction of the detected at least one projected illumination spot with respect to a first reference point, and determine a location of the mobile robot based at least in part on the determined direction, wherein the detector is configured to detect the at least one projected illumination spot without having a line of sight view of the first illumination projector.

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