| CPC G06V 10/98 (2022.01) [G05D 1/0234 (2013.01); G06T 7/73 (2017.01); G06V 10/764 (2022.01); G06V 10/82 (2022.01); G06V 20/50 (2022.01); G06T 2207/20084 (2013.01); G06T 2207/30204 (2013.01)] | 20 Claims |
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1. A system, comprising:
a plurality of fiducial markers positionable on a floor, each fiducial marker of the plurality of fiducial markers configured to indicate a global position of the respective fiducial marker for use in navigating the floor; and
a mobile robot comprising a floor-facing optical sensor, wherein the mobile robot is configured to:
obtain, via the floor-facing optical sensor, first images of the floor including the plurality of fiducial markers;
navigate the floor based at least in part on determining the global position of the mobile robot from the first images of the plurality of fiducial markers;
determine that an expected fiducial marker has not been detected in the first images of the plurality of fiducial markers;
responsive to determining that the expected fiducial marker has not been detected, generate an input to a neural network comprising one or more images of the first images detected by the floor-facing optical sensor when the mobile robot was proximate the expected fiducial marker, the neural network configured to execute locally by the mobile robot and configured to generate an output comprising a classification of image data of the one or more images based at least in part on the input;
determine an error event corresponding to the expected fiducial marker based at least in part on the classification of image data received from the neural network; and
responsive to determining the error event, output a notification indicating the error event corresponding to the expected fiducial marker.
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