US 12,285,855 B2
System and method for RF based robot localization
Yuming Zhu, Plano, TX (US); Indranil Sinharoy, Richardson, TX (US); Songwei Li, McKinney, TX (US); Boon Loong Ng, Plano, TX (US); and Jianzhong Zhang, Dallas, TX (US)
Assigned to Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Oct. 5, 2022, as Appl. No. 17/938,300.
Claims priority of provisional application 63/254,802, filed on Oct. 12, 2021.
Prior Publication US 2023/0113061 A1, Apr. 13, 2023
Int. Cl. B25J 13/00 (2006.01); A01D 34/00 (2006.01); G01S 5/02 (2010.01)
CPC B25J 13/006 (2013.01) 20 Claims
OG exemplary drawing
 
1. A method comprising:
when a handheld device is in motion within a service area to be traversed by a robot:
obtaining ultra-wideband (UWB) ranging measurements between the handheld device and multiple anchors located in the service area; and
obtaining image data and inertial measurement unit (IMU) data;
determining a trajectory of motion of the handheld device based on the UWB ranging measurements;
adjusting the trajectory based on image features obtained from the image data and motion estimates obtained from the IMU data by combining the image data and the motion estimates using weights determined by a set of confidence values; and
identifying the adjusted trajectory as a boundary of the service area.