Systems and methods for operating a mobile robot with stereo imaging devices mounted thereon

A method of operating a mobile robot, the method comprising:

• operating the mobile robot to autonomously navigate to a visual target, the mobile robot comprising at least one processor, at least one pair of stereo imaging devices mounted thereon, and a memory storing a current baseline for each pair of stereo imaging devices, each pair of stereo imaging devices comprising a first imaging device and a second imaging device, the current baseline for each pair of stereo imaging devices being representative of a distance between the first imaging device and the second imaging device of that pair of stereo imaging devices;
• while the visual target is within a viewing range of a first pair of stereo imaging devices of the at least one pair of stereo imaging devices, operating the first pair of stereo imaging devices to capture an image of the visual target, the image comprising a plurality of sample points generated based on the visual target;
• operating the at least one processor to:
• generate a plurality of depth measurements for the plurality of sample points of the image;
• compare the plurality of depth measurements with corresponding depth estimates for the plurality of sample points, the depth measurements being based on the current baseline of the first pair of stereo imaging devices;
• and
• update the current baseline of the first pair of stereo imaging devices based on the comparisons of the plurality of depth measurements with the corresponding depth estimates;
• operating the mobile robot to autonomously execute a mission within an environment;
• and
• while executing the mission, operating the at least one processor to use the current baseline for sensing the environment.