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:
May. 03, 2016
Filed:
Apr. 13, 2015
Applicant:
Irobot Corporation, Bedford, MA (US);
Inventors:
Robert Todd Pack, Hollis, NH (US);
Scott R. Lenser, Waltham, MA (US);
Justin H. Kearns, Somerville, MA (US);
Orjeta Taka, Bedford, MA (US);
Assignee:
iRobot Corporation, Bedford, MA (US);
Primary Examiner:
Int. Cl.
CPC ...
G01C 21/00 (2006.01); G05D 1/02 (2006.01); G01C 21/30 (2006.01); G01C 21/20 (2006.01);
U.S. Cl.
CPC ...
G05D 1/0231 (2013.01); G01C 21/20 (2013.01); G01C 21/30 (2013.01); G05D 1/0214 (2013.01); Y10S 901/01 (2013.01); Y10S 901/47 (2013.01);
Abstract
A method of localizing a mobile robot includes receiving sensor data of a scene about the robot and executing a particle filter having a set of particles. Each particle has associated maps representing a robot location hypothesis. The method further includes updating the maps associated with each particle based on the received sensor data, assessing a weight for each particle based on the received sensor data, selecting a particle based on its weight, and determining a location of the robot based on the selected particle.