Map-less localization and autonomous navigation of mobile robots

A computer-implemented method for a map-less localization of a robot, the computer-implemented method comprising:

• receiving, using a controller, an image of an environment scanned by a camera located on a robot, wherein the environment includes a target object;
• determining, using the controller, a first set of target points in a first coordinate system, the first set of target points representing the target object, wherein the first set of target points is determined with respect to a camera location on the robot;
• defining, using the controller, a reference point in the image, the reference point being defined based on dimensions of the image, wherein the reference point is a center of the image;
• determining, using the controller, a second set of target points representing the target object, the second set being determined in a second coordinate system and with respect to the reference point, wherein the second set of target points is determined at least based on the first set of target points and a camera distance from the camera location to the target object;
• and
• localizing, using the controller, the robot with respect to the target object, wherein the robot is localized at least based on the second set of target points.

A system for a map-less localization of a robot, the system comprising:

• a robot including a camera;
• and
• a controller in communication with the robot, wherein the controller is configured to:
• receive an image of an environment scanned by the camera located on the robot, wherein the environment includes a target object;
• determine a first set of target points in a first coordinate system, the first set of target points representing the target object, wherein the first set of target points is determined with respect to a camera location on the robot;
• define a reference point in the image, the reference point being defined based on dimensions of the image, wherein the reference point is a center of the image;
• determine a second set of target points representing the target object, the second set being determined in a second coordinate system and with respect to the reference point, wherein the second set of target points is determined at least based on the first set of target points and a camera distance from the camera location to the target object;
• and
• localize the robot with respect to the target object, wherein the robot is localized at least based on the second set of target points.