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:
Aug. 03, 2021
Filed:
Dec. 07, 2018
Zebra Technologies Corporation, Lincolnshire, IL (US);
Sadegh Tajeddin, Mississauga, CA;
Harsoveet Singh, Mississauga, CA;
Jingxing Qian, Richmond Hill, CA;
Zebra Technologies Corporation, Lincolnshire, IL (US);
Abstract
A method for localization of a mobile automation apparatus includes, at a navigational controller: generating a set of candidate poses within an environmental map; updating the candidate poses according to motion data corresponding to movement of the mobile automation apparatus; receiving observational data collected at an actual pose of the mobile automation apparatus; generating (i) respective weights for the candidate poses, each weight indicating a likelihood that the corresponding candidate pose matches the actual pose, and (ii) a localization confidence level based on the weights; responsive to determining whether the localization confidence level exceeds a candidate pose resampling threshold: when the determination is affirmative, (i) increasing the candidate pose resampling threshold and (ii) generating a further set of candidate poses; and when the determination is negative, (i) decreasing the candidate pose resampling threshold without generating the further set; and repeating the updating, the receiving, the generating and the determining.