{
  "$type": "site.standard.document",
  "description": "A method for localization of a mobile automation apparatus includes, at a navigational controller: generating a set of candidate poses within an environmental map; updating the candidate poses according to motion data corresponding to movement of the mobile automation apparatus; receiving…",
  "path": "/patents/1264310",
  "publishedAt": "2020-06-11T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/206",
    "Zebra Technologies Corporation"
  ],
  "textContent": "A method for localization of a mobile automation apparatus includes, at a navigational controller: generating a set of candidate poses within an environmental map; updating the candidate poses according to motion data corresponding to movement of the mobile automation apparatus; receiving observational data collected at an actual pose of the mobile automation apparatus; generating (i) respective weights for the candidate poses, each weight indicating a likelihood that the corresponding candidate pose matches the actual pose, and (ii) a localization confidence level based on the weights; responsive to determining whether the localization confidence level exceeds a candidate pose resampling threshold: when the determination is affirmative, (i) increasing the candidate pose resampling threshold and (ii) generating a further set of candidate poses; and when the determination is negative, (i) decreasing the candidate pose resampling threshold without generating the further set; and repeating the updating, the receiving, the generating and the determining.",
  "title": "METHOD, SYSTEM AND APPARATUS FOR ADAPTIVE PARTICLE FILTER LOCALIZATION"
}