Simultaneous localization and mapping for a mobile robot
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United States of America Patent
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Jul 26, 2016
Grant Date -
Jul 23, 2015
app pub date -
Mar 31, 2015
filing date -
Nov 2, 2012
priority date (Note) -
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Abstract
A method of simultaneous localization and mapping includes initializing a robot pose and a particle model of a particle filter. The particle model includes particles, each having an associated map, robot pose, and weight. The method includes receiving sparse sensor data from a sensor system of the robot, synchronizing the received sensor data with a change in robot pose, accumulating the synchronized sensor data over time, and determining a robot localization quality. When the accumulated sensor data exceeds a threshold accumulation and the robot localization quality is greater than a threshold localization quality, the method includes updating particles with accumulated synchronized sensor data. The method includes determining a weight for each updated particle of the particle model and setting a robot pose belief to the robot pose of the particle having the highest weight when a mean weight of the particles is greater than a threshold particle weight.
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