Abstract: A system and method of obstacle and cliff detection for an autonomous or a semi-autonomous cleaning device utilizing a calibration health monitor and occupancy grid filters. A calibration health monitor is used for monitoring and making minor adjustments to camera calibration over time. An occupancy grid filter is a 3D occupancy grid for probabilistically observing obstacles with 3d sensors that are susceptible to noise or other inaccuracies.

Abstract: A system and method can be provided for detecting the status of one or more components and/or systems of, for example, a manual, semi-autonomous, or fully autonomous cleaning device or the like. Embodiments described herein relate to a system that provides semi-autonomous cleaning of surfaces by a semi-autonomous cleaning device. The system provides for improved reliable obstacle detection and avoidance, improved sensing, improved design, improved failure detection, advanced diagnostics and expandability capabilities.