Robot pose estimation

A method comprising:

• obtaining, from a robot, an image at a location of a property;
• obtaining data indicating the location;
• selecting a key frame from one or more key frames for the property using the data indicating the location and the one or more key frames;
• comparing, for each of at least one feature point in the key frame, a position of the respective feature point in the image to a position of the respective feature point in the key frame;
• accessing depth data for the key frame;
• after accessing the depth data, determining a scale factor using the depth data for the key frame;
• generating a pose estimation for the robot using the scale factor and a result of the comparison, for the at least one feature point in the key frame, of the position of the respective feature point in the image to the position of the respective feature point in the key frame;
• and
• transmitting, to a component in the robot, an instruction for the robot to:
• update a pose of the robot using the pose estimation;
• and
• navigate through the property using the updated pose.

A system comprising one or more computers and one or more storage devices on which are stored instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:

• obtaining, from a robot, an image at a location of a property;
• obtaining data indicating the location;
• selecting a key frame from one or more key frames for the property using the data indicating the location and the one or more key frames;
• comparing, for each of at least one feature point in the key frame, a position of the respective feature point in the image to a position of the respective feature point in the key frame;
• accessing depth data for the key frame;
• after accessing the depth data, determining a scale factor using the depth data for the key frame;
• generating a pose estimation for the robot using the scale factor and a result of the comparison, for the at least one feature point in the key frame, of the position of the respective feature point in the image to the position of the respective feature point in the key frame;
• and
• transmitting, to a component in the robot, an instruction for the robot to:
• update a pose of the robot using the pose estimation;
• and
• navigate through the property using the updated pose.