Method and system for localizing a mobile robot

Abstract

A method and system of localizing a mobile robot with respect to a target object using an initial map of a reference object which is a representation of the target object are disclosed. In a specific embodiment, the method comprises obtaining LiDAR data including respective point cloud representations of the target object and the environment in various sampling instances; iteratively updating pose data representing estimated pose of the mobile robot; extracting a subset of LiDAR data points in the point cloud representation of a previous sampling instance that correspond to features of the target object; obtaining desired LiDAR data points in the point cloud representation in a current sampling instance, and determining a localization pose of the mobile robot with respect to the target object in the current sampling instance based on the desired LiDAR data points.