| 摘要 |
According to the embodiments described herein, a method for lost vehicle recovery utilizing associated feature pairs may include, for a materials handling vehicle determined to be lost, creating a plurality of associated feature pairs by retrieving a subsequent set of camera data from a camera comprising two-dimensional UV space information, forming pairs from the UV space information, and associating each formed pair with pairs from each of a plurality of three-dimensional global feature points of an industrial facility map. The method may further include calculating a best estimate pose from calculated vehicle poses of the associated feature pairs based on a highest-rated pair of the plurality of associated feature pairs, using an accumulated odometry to update the best estimate pose to a current localized position, updating the seed position as the current localized position, and operating the materials handling vehicle utilizing the updated seed position. |
