Systems and methods for operating a mobile robot with stereo imaging devices mounted thereon

Abstract

Systems and methods for operating a mobile robot is disclosed. The system can include a pair of stereo imaging devices mounted on the mobile robot, a memory storing a current baseline, and a processor. The pair of stereo imaging devices include a first and a second imaging device. The current baseline is representative of a distance between the first and the second imaging devices. The processor is operable to: autonomously navigate the mobile robot to a visual target; while the visual target is within viewing range, capture an image of the visual target; generate a plurality of depth measurements from the image; compare the plurality of depth measurements with corresponding depth estimates; and update the current baseline based on the comparisons. The mobile robot is operable to autonomously execute a mission within an environment; and while executing the mission, use the current baseline for sensing the environment.