Abstract: Systems and methods for filtering underestimated distance measurements from pulse-modulated time of flight sensor are disclosed herein. According to at least one non-limiting exemplary embodiment, a cluster of pixels in a depth image may be identified as having incorrect distance measurements based on a set of pre-defined criteria disclosed herein. The incorrect distance measurements may be filtered from the image such that robots using depth cameras do not perceive objects as being substantially close to the robots when no objects are present.

Abstract: Systems and methods for calibrating a robot's sensors are disclosed. In one exemplary implementation, an environment comprising a plurality of sensor targets and a fixed position for a robot allows for faster, more accurate calibration of a robot's sensors.

Abstract: Systems and methods for modulating speed limits of robotic devices are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot may calculate a maximum speed limit as a function of available turn partitions, or set of discretized movements, and distance to nearest obstacles along the turn partitions. The system determines, for each of several turn partitions, the distance to the nearest obstacle point within each partition. It identifies a turn partition to execute based on a segment of the robot's route, which includes a turn within the partition's range. The system calculates a speed limit for the robot on this route segment, considering the distance to the nearest obstacle in the selected turn partition, and assigns a maximum speed to the robot according to the determined speed limit. This approach optimizes the robot's navigation by dynamically adjusting speed based on environmental obstacles and route requirements.

Abstract: Systems and methods for identifying exceptions in feature detection analytics include systems and methods configured to identify exceptions in product displays. In one exemplary embodiment, price tag mismatches are reported to a customer if certain criteria are met based on analytics from optical character recognition, image object detection, and reference catalogs/planograms. These price tag mismatches, for example, provide actionable insights for humans working alongside robots which can be quickly identified and resolved.

Abstract: Systems and methods for configuring a robot to scan for features are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot may be configured to scan for features within an environment by producing various computer-readable maps which may be annotated to facilitate organized and accurate feature scanning.

Abstract: A robotic system for indoor mapping includes a base with a differential drive and a collapsible tower comprising a plurality of tower sections foldable at multiple joints. A folding mechanism transitions the tower between an extended configuration and a collapsed configuration in which the tower lies substantially flush with the base. A plurality of cameras are mounted along the tower and vertically aligned with a wheel axis of the differential drive such that the cameras rotate in place without lateral translation when the base turns, reducing image distortion. A 3D LiDAR sensor having a dome-like shape protrudes from the tower and is received within a protective cavity formed in an adjacent tower section when the tower is collapsed. A processor executes instructions to obtain image data and range data for mapping, navigation, and self-calibration.

Abstract: Systems and methods for detecting an error in the mounting of a front hazard sensor are disclosed herein. According to at least one exemplary embodiment, an error in a pose of a front hazard sensor may comprise the front hazard sensor being orientated or positioned incorrectly with respect to a default pose. The present disclosure provides systems and methods for determining if this error in the pose is present.

Abstract: Systems and methods for constructing high resolution panoramic imagery for feature identification on robotic devices are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot collects a plurality of images of an environment, these images include large overlap in their visual scenes. Using additional image data from the overlapping images, resolution of labels, price tags, and other inventory tags may be enhanced when constructing panoramic imagery to improve feature identification.

Abstract: Systems and methods for determining a margin of error based on an expected measurement from a front hazard sensor at a default pose, the front hazard sensor coupled to a robot. A device may collect distance measurements from the front hazard sensor over a duration in time; and calculate measurement errors of the front hazard sensor based on a discrepancy. A device may between the margin of error and the collected distance measurements, determine an error parameter based on the calculated measurement errors and the duration in time, determine an error mounting of the front hazard sensor based on the error parameter meeting or exceeding a threshold; and output a signal indicative of the detected error.

Abstract: Systems and methods for systems and methods for real time calibration of multiple range sensors on a robot are disclosed herein. According to at least one non-limiting exemplary embodiment, methods for self-calibration are used to independently correct rotational errors in a pose of a sensor. In some instances, the self-calibration may further yield errors along at least one translational axis. According to at least one non-limiting exemplary embodiment, methods for cross-calibration are used to correct translational errors and to ensure all sensors on a robot agree on perceived locations of objects.

Abstract: Systems and methods for detecting, mapping, and route planning around cliffs for robotic devices are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot processing a three-dimensional range sensor scan may utilize pre-computed neighboring points to detect cliffs, navigable ramps, and holes in a plane of a map used by the robotic device to navigate.

Abstract: Systems and methods for systems and methods for real time calibration of multiple range sensors on a robot are disclosed herein. According to at least one non-limiting exemplary embodiment, methods for self-calibration are used to independently correct rotational errors in a pose of a sensor. In some instances, the self-calibration may further yield errors along at least one translational axis. According to at least one non-limiting exemplary embodiment, methods for cross-calibration are used to correct translational errors and to ensure all sensors on a robot agree on perceived locations of objects.

Abstract: Systems and methods for detecting, mapping, and route planning around cliffs for robotic devices are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot processing a three-dimensional range sensor scan may utilize pre-computed neighboring points to detect cliffs, navigable ramps, and holes in a plane of a map used by the robotic device to navigate.

Abstract: Systems and methods for detection of features within data collected by a plurality of robots by a centralized server are disclosed herein. According to at least one non-limiting exemplary embodiment, a plurality of robots may be utilized to collect a substantial amount of feature data using one or more sensors coupled thereto, wherein use of the plurality of robots to collect the feature data yields accurate localization of the feature data and consistent acquisition of the feature data. Systems and methods disclosed herein further enable a cloud server to identify a substantial number of features within the acquired feature data for purposes of generating insights. The substantial number of features far exceed a practical number of features of which a single neural network may be trained to identify.

Abstract: Systems and methods for data and confidentiality preservation for feature identification by robotic devices are disclosed herein. According to at least one non-limiting exemplary embodiment, a method for determining if an image depicts a human is disclosed. The determination may be utilized to either (i) censor the face of the human, or (ii) identify features within the image. The determination enhances feature identification by ensuring only uncensored and unobscured images are provided to one or more models for the identification to preserve human confidentiality.

Abstract: Systems and methods for training a robot to autonomously travel a route. In one embodiment, a robot can detect an initial placement in an initialization location. Beginning from the initialization location, the robot can create a map of a navigable route and surrounding environment during a user-controlled demonstration of the navigable route. After the demonstration, the robot can later detect a second placement in the initialization location, and then autonomously navigate the navigable route. The robot can then subsequently detect errors associated with the created map. Methods and systems associated with the robot are also disclosed.

Abstract: Systems, apparatuses, and methods for calibrating LiDAR sensors of a robot using intersecting LiDAR sensors are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot may calibrate a calibration LiDAR based on a determined pose of the calibration LiDAR, wherein the pose is determined based on a measurement error between the calibration LiDAR and an intersecting reference LiDAR.

Abstract: Systems and methods for enhancing task performance and computer readable maps produced by robots using modular sensors is disclosed herein. According to at least one non-limiting exemplary embodiment, robots may perform a first set of tasks, wherein coupling one or more modular sensors to the robots may configure a robot to perform a second set of tasks, the second set of tasks includes the first set of tasks and at least one additional task.

Abstract: Systems and methods for robotic disinfection and sanitation of environments are disclosed herein. The robotic devices disclosed herein may detect and map locations of pathogens within environments. The robotic devices disclosed herein may utilize data from sensor units to sanitize objects using desired methods specified by operators. The robotic devices disclosed herein may sanitize environments comprising people.

Abstract: Systems and methods for editing routes for robotic devices are disclosed herein. According to at least one non-limiting exemplary embodiment, Bezier curves and controls are provided to enable a user to intuitively manipulate a robot route, including changing the shape of the route, deleting segments of the route, and/or adding new route segments.