Robot and method for ascertaining a distance traveled by a robot

A semiautonomous robot, comprising:

• at least two powered locomotion devices;
• a monocular capture unit;
• and
• a control system including at least one control unit, wherein the control system is configured to:
• during operation of the semiautonomous robot, intermittently:
• control the at least two locomotion devices to perform a same predefined calibration maneuver that includes rotating the capture unit along a predefined rotational motion path about a rotational axis having a predefined and fixed geometric offset from the capture unit, the predefined and fixed geometric offset including a predefined distance and orientation relative to the capture unit;
• control the capture unit to obtain calibration images at multiple positions along the performed calibration maneuver;
• and
• determine a respective updated distance conversion parameter as a function of (1) the predefined rotational motion of the capture unit about the rotational axis and (2) an image motion between the obtained calibration images;
• and
• ascertain a distance traveled by the semiautonomous robot based on (1) measurement images obtained by the monocular capture unit and (2) one of the determined respective distance conversion parameters.