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:
Mar. 16, 2021
Filed:
May. 01, 2017
Symbol Technologies, Llc, Lincolnshire, IL (US);
Thomas D. Kingsford, Toronto, CA;
Chengzhi W. Liu, Mississauga, CA;
Harsoveet Singh, Mississauga, CA;
Timothy D. Barfoot, Toronto, CA;
Symbol Technologies, LLC, Holtsville, NY (US);
Abstract
A device and method for multimodal localization and mapping for a mobile automation apparatus is provided. Features are extracted from images acquired by a ceiling-facing image device of the mobile automation apparatus in an environment, and stored in association with estimated positions of the mobile automation apparatus in the environment as determined from one or more sensors, as well as in association with features extracted from depth data acquired from a depth-sensing device, for example as map data. The map data is later used by the mobile automation apparatus to navigate the environment based, at least in part, on further images acquired by the ceiling-facing image device.