The invention relates to a navigation method, a robot and a non-transitory computer readable medium having stored program instructions executable by a computing system to cause the computing system to perform the navigation method.The robot comprises a sensor and a control system configured to: receive sensor data indicative of a plurality of markers detected by the sensor when the robot is located at a plurality of robot poses within an environment; determine a pose graph representing the plurality of robot poses and the plurality of markers, wherein the pose graph comprises a plurality of edges associated with a cost function representing an error in consecutive robot poses based on a robot motion model; determine one or more motion model parameters for the robot that optimize the cost function associated with the plurality of edges in the pose graph; and control the robot to navigate within the environment based on the determined one or more motion model parameters.


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    Title :

    METHOD AND SYSTEM FOR SIMULTANEOUS LOCALIZATION AND SENSOR CALIBRATION


    Additional title:

    VERFAHREN UND SYSTEM ZUR GLEICHZEITIGEN LOKALISIERUNG UND SENSORKALIBRATION
    PROCÉDÉ ET SYSTÈME DE LOCALISATION ET D'ÉTALONNAGE SIMULTANÉS DE CAPTEUR


    Contributors:
    HOLZ DIRK (author) / STRASZHEIM TROY (author)

    Publication date :

    2021-12-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G06K Erkennen von Daten , RECOGNITION OF DATA



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