Simultaneous Localization And Mapping For A Mobile Robot
AssigneeiRobot Corporation
InventorsRobert Todd Pack, Scott R. Lenser, Justin H. Kearns, Orjeta Taka
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Abstract
A method of localizing a mobile robot includes receiving sensor data of a scene about the robot and executing a particle filter having a set of particles. Each particle has associated maps representing a robot location hypothesis. The method further includes updating the maps associated with each particle based on the received sensor data, assessing a weight for each particle based on the received sensor data, selecting a particle based on its weight, and determining a location of the robot based on the selected particle.
Claims22
A method of localizing a mobile robot, the method comprising:
- receiving sensor data of a scene about the robot;
- executing a particle filter having a set of particles, each particle having associated maps and a robot location hypothesis;
- updating the maps associated with each particle based on the received sensor data;
- assessing a weight for each particle based on the received sensor data;
- selecting at least one particle based on its weight;
- and
- determining a location of the robot based on the at least one selected particle.
Dependencies are inferred from the claim text.