Method, system and apparatus for adaptive particle filter localization

A mobile automation apparatus, comprising

• a motion sensor;
• an observational sensor;
• and
• a navigational controller connected to the motion sensor and the observational sensor;
• the navigational controller configured to:
• generate a set of candidate poses within an environmental map;
• update the set of candidate poses according to motion data collected via the motion sensor;
• collect observational data from a field of view corresponding to an actual pose of the mobile automation apparatus via the observational sensor;
• generate (i) respective weights for the candidate poses, each weight indicating a likelihood that the corresponding candidate pose matches the actual pose, and (ii) a localization confidence level based on the weights;
• and
• determine whether the localization confidence level exceeds a candidate pose resampling threshold, and responsive to the determination:
• when the determination is affirmative, (i) increase the candidate pose resampling threshold and (ii) generate a further set of candidate poses;
• and
• when the determination is negative, (i) decrease the candidate pose resampling threshold without generating the further set.

A non-transitory computer-readable medium storing a plurality of computer-readable instructions executable by a navigational controller, wherein execution of the computer-readable instructions configures the navigational controller to:

• generate a set of candidate poses within an environmental map;
• update the set of candidate poses according to motion data collected via a motion sensor;
• collect observational data from a field of view corresponding to an actual pose of the mobile automation apparatus via an observational sensor;
• generate (i) respective weights for the candidate poses, each weight indicating a likelihood that the corresponding candidate pose matches the actual pose, and (ii) a localization confidence level based on the weights;
• and
• determine whether the localization confidence level exceeds a candidate pose resampling threshold, and responsive to the determination:
• when the determination is affirmative, (i) increase the candidate pose resampling threshold and (ii) generate a further set of candidate poses;
• and
• when the determination is negative, (i) decrease the candidate pose resampling threshold without generating the further set.