X Development LLC

Intrinsic Innovation LLC

Elizabeth Murphy

Dirk Holz

Embodiments are provided that include maintaining a map of a plurality of markers in an environment. The map includes a last detection time of each marker of the plurality of markers. The embodiments also include receiving a set of detected markers from a robotic device that is configured to localize in the environment using the plurality of markers. The embodiments further include updating, in the map, the last detection time of each marker which has a mapped position that corresponds to a detected position of a detected marker in the set of detected markers. The embodiments additionally include identifying, from the plurality of markers in the map, a marker having a last detection time older than a threshold amount of time. The embodiments still further include initiating an action related to the identified marker.

Determining changes in marker setups for robot localization

One method disclosed includes identifying, in a map of markers fixed in an environment, two co-located markers within a threshold distance of each other, where each of the two co-located markers has a non-overlapping visibility region. The method further includes determining a set of detected markers based on sensor data from a robotic device. The method additionally includes identifying, from the set of detected markers, a detected marker proximate to a first marker of the two co-located markers. The method also includes enforcing a visibility constraint based on the non-overlapping visibility region of each of the two co-located markers to determine an association between the detected marker and a second marker of the two co-located markers. The method further includes determining a location of the robotic device in the environment relative to the map based on the determined association.

Robot localization with co-located markers

One method disclosed includes determining a map of markers fixed in an environment, where the map of markers includes a location and an orientation of each marker. The method further includes determining locations of a set of detected markers relative to the map based on a location of a robotic device relative to the map and based on sensor data from the robotic device. The method also includes associating a detected marker from the set of detected markers with a mapped marker based on the determined location of the detected marker relative to the map and based on a visibility constraint related to the orientation of the mapped marker. The method additionally includes adjusting, in the map, the orientation of the mapped marker based on the determined location of the detected marker relative to the map.

Growing community of inventors

San Jose, CA, United States of America

Elizabeth Murphy