Image-based delocalization recovery

A computing apparatus comprising:

• a processor;
• and
• a memory storing instructions that, when executed by the processor, configure the apparatus to:
• detect a travel impediment relating to a first travel path to a destination for a service robot;
• responsive to detecting the travel impediment relate to the first travel path to the destination, determine that the service robot is delocalized by performing a comparison between a first pose estimate for the service robot and a first image-based pose estimate for the service robot;
• responsive to determining that the service robot is delocalized, perform a relocalization operation of the service robot;
• and
• responsive to performing the relocalization operation of the service robot, initiate a second travel path to the destination.

A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by a computer, cause the computer to:

• detect a travel impediment relating to a first travel path to a destination for a service robot;
• responsive to detecting the travel impediment relate to the first travel path to the destination, determine that the service robot is delocalized by performing a comparison between a first pose estimate for the service robot and a first image-based pose estimate for the service robot;
• responsive to determining that the service robot is delocalized, perform a relocalization operation of the service robot;
• and
• responsive to performing the relocalization operation of the service robot, initiate a second travel path to the destination.