The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 05, 2019
Filed:
Apr. 14, 2015
Softbank Robotics Europe, Paris, FR;
Association Pour LA Recherche ET Le Developpement DE Méthodes ET Processus Industriels—armines, Paris, FR;
Emilie Wirbel, Paris, FR;
Arnaud de la Fortelle, Paris, FR;
Abstract
A method for localizing a robot in a localization plane with a bi-dimentional reference with axis x and y comprises: determining by odometry an estimation of coordinates x1 and y1 and orientation θ1 of the robot; determining an estimation θ2 of the orientation of the robot using a virtual compass; determining an estimation θ3 of the orientation of the robot by correlating parts of a reference and a query panorama; determining an estimation x4, y4 of the robot position using Iterative Closest Points; determining standard deviations σ_x1, σ_x2, σ_θ1 σ_θ2, σ_θ3, σ_x4, σ_y4 of the estimations; determining probability distributions G(x1), G(y1), G(θ1), G(θ2), G(θ3), G(x4), G(y4) of each estimation using standard deviations; determining three global distributions GLOB(x), GLOB(y), GLOB(θ) and a global estimation xg, yg of the coordinates of the robot in the localization plane and a global estimation θg of its orientation by applying maximum likelihood to global distributions.