Symbol Technologies, LLC

Zebra Technologies Corporation

Jonathan Kelly

Harsoveet Singh

Richard Jeffrey Rzeszutek

Feng Cao

Mahyar Vajedi

Jingxing Qian

Zichen Huang

Ziehen Huang

A method for dynamic loop closure in a mobile automation apparatus includes: obtaining mapping trajectory data defining a plurality of trajectory segments traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse a current segment; generating a sequence of keyframes for the current segment using sensor data captured via a navigational sensor of the apparatus; and, for each keyframe: determining an estimated apparatus pose based on the sensor data and a preceding estimated pose corresponding to a preceding keyframe; and, determining a noise metric defining a level of uncertainty associated with the estimated pose relative to the preceding estimated pose; determining, for a selected keyframe, an accumulated noise metric based on the noise metrics for the selected keyframe and each previous keyframe; and when the accumulated noise metric exceeds a threshold, updating the mapping trajectory data to insert a repetition of one of the segments.

Method, system and apparatus for dynamic loop closure in mapping trajectories

A method of mobile automation apparatus localization in a navigation controller includes: controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing a navigational structure; selecting a primary subset of the depth measurements; selecting, from the primary subset, a corner candidate subset of the depth measurements; generating, from the corner candidate subset, a corner edge corresponding to the navigational structure; selecting an aisle subset of the depth measurements from the primary subset, according to the corner edge; selecting, from the aisle subset, a local minimum depth measurement for each of a plurality of sampling planes extending from the depth sensor; generating a shelf plane from the local minimum depth measurements; and updating a localization of the mobile automation apparatus based on the corner edge and the shelf plane.

Method, system and apparatus for mobile automation apparatus localization

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Toronto, Canada

Jonathan Kelly