| CPC A47L 11/4011 (2013.01) [G05D 1/0221 (2013.01); G05D 1/0238 (2013.01); G05D 1/0274 (2013.01); G06T 7/73 (2017.01); A47L 2201/04 (2013.01)] | 9 Claims |
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1. A navigation system for navigating a robot unit in a scene or venue, the robot unit comprising one or more remote sensors, the scene or venue comprising a number of static and dynamic features, the system comprising:
a storage having information representing a position of each of the number of features, and
a controller configured to:
at each of a plurality of points of time:
receive an output from the one or more remote sensors,
determine, from the output, a plurality of the features, and
determine a position of each determined feature, and
for each of a plurality of runs of the system, allocate, to each recognized feature, a weight increasing for each run in which the feature is determined at at least substantially a same position and decreasing for each run in which the feature is not determined at said position,
increase or decrease the weight, for each feature, only once when the feature is determined to be in the same position or not in the same position multiple times during a single run,
update the storage with the allocated weights,
determine a position of the robot unit vis-à-vis the position of the determined feature based on the weight allocated to the features, and
navigate the robot unit about the scene or venue.
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