{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
      "$link": "bafkreiapoq4zem7rolpvpzzxwixljqniaf56fha3v77xzh2vc3wqpux6gu"
    },
    "mimeType": "image/png",
    "size": 106089
  },
  "description": "The invention relates to a navigation method, a robot and a non-transitory computer readable medium having stored program instructions executable by a computing system to cause the computing system to perform the navigation method. The robot comprises a sensor and a control system configured to…",
  "path": "/patents/1409459",
  "publishedAt": "2024-08-21T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B66F9/00",
    "X DEV LLC [US]"
  ],
  "textContent": "The invention relates to a navigation method, a robot and a non-transitory computer readable medium having stored program instructions executable by a computing system to cause the computing system to perform the navigation method. The robot comprises a sensor and a control system configured to: receive sensor data indicative of a plurality of markers detected by the sensor when the robot is located at a plurality of robot poses within an environment; determine a pose graph representing the plurality of robot poses and the plurality of markers, wherein the pose graph comprises a plurality of edges associated with a cost function representing an error in consecutive robot poses based on a robot motion model; determine one or more motion model parameters for the robot that optimize the cost function associated with the plurality of edges in the pose graph; and control the robot to navigate within the environment based on the determined one or more motion model parameters.",
  "title": "METHOD AND CONTROL SYSTEM FOR SIMULTANEOUS LOCALIZATION AND CALIBRATION"
}