Methods And Systems For Providing Landmarks To Facilitate Robot Localization And Visual Odometry

摘要

Methods and systems for providing landmarks to facilitate robot localization and visual odometry are provided herein. At least one area of a physical environment in which a robotic device resides may be determined to include surfaces that lack sufficient discernable features to determine a location of the at least one area. Instructions may responsively be provided to the robotic device for the robotic device to provide a material in respective patterns onto one or more surfaces of the at least one area. Instructions can responsively be provided for the robotic device to provide the material in respective textures as well. The respective patterns or textures may include sufficient discernable features to determine a location of the at least one area, and the material may remain on the one or more surfaces for a predetermined period of time.

主权项

1. A system comprising:
a robotic device; an applicator configured to provide a material onto a surface of an object, wherein the material, once provided on the surface, is expected to remain on the surface for at least a predetermined period of time; one or more optical sensors; at least one processor; data storage comprising instructions executable by the at least one processor to cause the system to perform operations comprising:
causing the robotic device to provide, using the applicator, the material in a pattern onto one or more surfaces in a physical environment; andwithin the predetermined period of time:
detecting, using the one or more optical sensors, the pattern on the one or more surfaces, wherein the pattern includes a discernable feature sufficient to determine a first location of the one or more surfaces in the physical environment;determining the discernable feature from the detected pattern on the one or more surfaces, andusing the discernable feature to determine the first location of the one or more surfaces with respect to a second location of the robotic device in the physical environment.