Systems and methods for determining position errors of front hazard sensors on robots

A non-transitory computer readable storage medium comprising a plurality of computer readable instructions stored thereon, that when executed by a processor, configure the processor to:

• determine a margin of error based on an expected measurement from a front hazard sensor at a default pose on a robot;
• collect distance measurements from the front hazard sensor over a duration in time;
• calculate measurement errors of the front hazard sensor based on a discrepancy between the margin of error and the collected distance measurements;
• determine an error parameter based on the measurement errors and the duration in time;
• determine an error in the mounting of the front hazard sensor based on the error parameter meeting or exceeding a threshold;
• and
• output a signal indicative of the determined error.

A robotic system, comprising:

• a non-transitory computer readable storage medium comprising computer readable instructions stored thereon;
• and
• at least one processor configured to execute the computer readable instructions to,
• determine a margin of error for a measurement of a front hazard sensor mounted to the robotic system;
• collect measurements from a front hazard sensor;
• determine at least one measurement error of the cliff detection sensor based on a discrepancy between the margin of error and the measurements collected;
• determine a value of an error parameter based on the at least one measurement error;
• and
• detect an error in a pose of the front hazard sensor based on the value of the error parameter meeting or exceeding a threshold;
• and
• output a signal based on the detected error in the pose.