{
  "$type": "site.standard.document",
  "description": "A method of mobile automation apparatus localization in a navigation controller includes: controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing a navigational structure; selecting a primary subset of the depth measurements; selecting, from the…",
  "path": "/patents/1245699",
  "publishedAt": "2019-10-10T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0268",
    "SYMBOL TECHNOLOGIES, LLC"
  ],
  "textContent": "A method of mobile automation apparatus localization in a navigation controller includes: controlling a depth sensor to capture a plurality of depth measurements corresponding to an area containing a navigational structure; selecting a primary subset of the depth measurements; selecting, from the primary subset, a corner candidate subset of the depth measurements; generating, from the corner candidate subset, a corner edge corresponding to the navigational structure; selecting an aisle subset of the depth measurements from the primary subset, according to the corner edge; selecting, from the aisle subset, a local minimum depth measurement for each of a plurality of sampling planes extending from the depth sensor; generating a shelf plane from the local minimum depth measurements; and updating a localization of the mobile automation apparatus based on the corner edge and the shelf plane.",
  "title": "METHOD, SYSTEM AND APPARATUS FOR MOBILE AUTOMATION APPARATUS LOCALIZATION"
}