US 12,461,525 B2
Planar robots dead-reckoning with optical flow, wheel encoder and inertial measurement unit
Zhanlue Zhao, Mountain View, CA (US); Douglas Charles Carlson, Mountain View, CA (US); Yun Li, Mountain View, CA (US); and Bryan A. Cook, Silver Spring, MD (US)
Assigned to CEVA TECHNOLOGIES, INC., Mountain View, CA (US)
Appl. No. 18/042,945
Filed by CEVA TECHNOLOGIES, INC., Mountain View, CA (US)
PCT Filed Aug. 31, 2021, PCT No. PCT/US2021/048365
§ 371(c)(1), (2) Date Feb. 24, 2023,
PCT Pub. No. WO2022/051252, PCT Pub. Date Mar. 10, 2022.
Claims priority of provisional application 63/073,311, filed on Sep. 1, 2020.
Prior Publication US 2023/0333560 A1, Oct. 19, 2023
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0212 (2013.01) [G05D 1/0253 (2013.01); G05D 1/0272 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method for estimating a trajectory of a robot, the method comprising:
fusing a plurality of robot velocity measurements from a plurality of robot sensors located within the robot to generate a fused robot velocity;
applying Kalman filtering to the fused robot velocity and measured linear acceleration from an inertial measurement unit; and
computing a current robot location.