{
  "$type": "site.standard.document",
  "description": "Embodiments of the present disclosure provide a method for localizing a lawnmower robot, an apparatus, and a readable storage medium. During the operation of the lawnmower robot, corresponding data is acquired by a wheel speedometer, an inertial positioning device, and an image sensing device…",
  "path": "/patents/1382639",
  "publishedAt": "2026-05-14T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/005",
    "Yosemite robotics Shanghai Co.,Ltd"
  ],
  "textContent": "Embodiments of the present disclosure provide a method for localizing a lawnmower robot, an apparatus, and a readable storage medium. During the operation of the lawnmower robot, corresponding data is acquired by a wheel speedometer, an inertial positioning device, and an image sensing device disposed on the lawnmower robot; the acquired wheel speedometer data is analyzed to derive a first residual term, the inertial positioning data is analyzed to derive a second residual term, and the image data is analyzed to determine a third residual term; and a cost function is constructed based on the first, second, and third residual terms, and the current position information of the lawnmower robot is obtained by minimizing the cost function. By tightly coupling the data collected from multiple sensors in the manner described above, the present disclosure is advantageous for improving the accuracy of localization results of the lawnmower robot.",
  "title": "METHOD AND APPARATUS FOR LOCALIZING LAWNMOWER ROBOT, AND READABLE STORAGE MEDIUM"
}