Evolution Robotics, Inc.

Irobot Corporation

L Niklas Karlsson

Paolo Pirjanian

Enrico Di Bernardo

Luis Filipe Domingues Goncalves

The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system

Systems and methods for filtering potentially unreliable visual data for visual simultaneous localization and mapping

The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. One embodiment maintains the particles, thereby permitting the SLAM processes to be performed in software using microprocessor-based computer systems.

Systems and methods for determining whether to add a landmark for visual simultaneous localization and mapping

Systems and methods for adding landmarks for visual simultaneous localization and mapping

Systems and methods for landmark generation for visual simultaneous localization and mapping

Systems and methods for controlling a density of visual landmarks in a visual simultaneous localization and mapping system

Apparatus and methods that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Systems and methods for correction of drift via global localization with a visual landmark

Systems and methods for computing a relative pose for global localization in a visual simultaneous localization and mapping system

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Pasadena, CA, United States of America

L Niklas Karlsson