US 12,137,856 B2
Trajectory-based localization and mapping
Daniele Tamino, Monrovia, CA (US); Artem Gritsenko, Stoneham, MA (US); Andrea M. Okerholm Huttlin, Needham, MA (US); Arman Karimian, Watertown, MA (US); Benjamin Pheil, Ontario, NY (US); Yao Chen, London (GB); Renaud Moser, Pasadena, CA (US); and Jose Luis Franco Monsalve, Pasadena, CA (US)
Assigned to iRobot Corporation, Bedford, MA (US)
Filed by iRobot Corporation, Bedford, MA (US)
Filed on Nov. 22, 2021, as Appl. No. 17/532,863.
Prior Publication US 2023/0157506 A1, May 25, 2023
Int. Cl. A47L 11/40 (2006.01); G05D 1/00 (2006.01)
CPC A47L 11/4011 (2013.01) [G05D 1/0219 (2013.01); G05D 1/0238 (2013.01); G05D 1/0274 (2013.01); A47L 2201/04 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A method of navigating an autonomous cleaning robot in an environment, the method comprising:
maneuvering the autonomous cleaning robot through the environment along an overall trajectory, including maneuvering the autonomous cleaning robot around a feature in the environment along a first trajectory included in the overall trajectory;
selectively storing, as one or more trajectory landmarks, data characterizing only a portion of the overall trajectory, including storing data characterizing the first trajectory as a trajectory landmark, wherein selectively storing the data characterizing the first trajectory as the trajectory landmark comprises selecting the first trajectory for use as a landmark based on at least one of:
a speed of the autonomous cleaning robot during traversal of the first trajectory, or
a time taken by the autonomous cleaning robot to traverse the first trajectory;
maneuvering the autonomous cleaning robot along a second trajectory;
comparing data characterizing the second trajectory to the trajectory landmark;
based on comparing the data characterizing the second trajectory to the trajectory landmark, determining that the first trajectory matches the second trajectory;
determining a transform that aligns the first trajectory with the second trajectory; and
applying the transform to an estimate of a position of the autonomous cleaning robot as a correction of the estimate.