Abstract: A method for dynamic loop closure in a mobile automation apparatus includes: obtaining mapping trajectory data defining a plurality of trajectory segments traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse a current segment; generating a sequence of keyframes for the current segment using sensor data captured via a navigational sensor of the apparatus; and, for each keyframe: determining an estimated apparatus pose based on the sensor data and a preceding estimated pose corresponding to a preceding keyframe; and, determining a noise metric defining a level of uncertainty associated with the estimated pose relative to the preceding estimated pose; determining, for a selected keyframe, an accumulated noise metric based on the noise metrics for the selected keyframe and each previous keyframe; and when the accumulated noise metric exceeds a threshold, updating the mapping trajectory data to insert a repetition of one of the segments.

Abstract: 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.

Abstract: A method for dynamic loop closure in a mobile automation apparatus includes: obtaining mapping trajectory data defining a plurality of trajectory segments traversing a facility to be mapped; controlling a locomotive mechanism of the apparatus to traverse a current segment; generating a sequence of keyframes for the current segment using sensor data captured via a navigational sensor of the apparatus; and, for each keyframe: determining an estimated apparatus pose based on the sensor data and a preceding estimated pose corresponding to a preceding keyframe; and, determining a noise metric defining a level of uncertainty associated with the estimated pose relative to the preceding estimated pose; determining, for a selected keyframe, an accumulated noise metric based on the noise metrics for the selected keyframe and each previous keyframe; and when the accumulated noise metric exceeds a threshold, updating the mapping trajectory data to insert a repetition of one of the segments.

Abstract: 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.

Abstract: Systems and methods of managing the security of a networked environment based on activity associated with deployed pseudo-accounts are presented. In one embodiment, a plurality of pseudo-accounts are deployed in one or more networks, domains, or virtual machines and activity associated with the pseudo-accounts is collected to identify security risks to facilitate remediation and mitigation.

Abstract: Systems and methods of managing the security of a networked environment based on activity associated with deployed pseudo-accounts are presented. In one embodiment, a plurality of pseudo-accounts are deployed in one or more networks, domains, or virtual machines and activity associated with the pseudo-accounts is collected to identify security risks to facilitate remediation and mitigation.

Abstract: In one embodiment, an external programming device is operable to determine and graphically display power consumption of an implantable medical device (“IMD”). In accordance with this particular embodiment, the external programming device includes a graphical user interface display and a communication interface operable to receive information from an IMD. In this embodiment, the external programming device is operable to receive IMD parameter settings and/or battery parameter values from the IMD, calculate a power consumption rate for the IMD, and then display the power consumption on the graphical user interface display using a graphical visual indicator.

Abstract: In one embodiment, an external programming device is operable to determine and graphically display power consumption of an implantable medical device (“IMD”). In accordance with this particular embodiment, the external programming device includes a graphical user interface display and a communication interface operable to receive information from an IMD. In this embodiment, the external programming device is operable to receive IMD parameter settings and/or battery parameter values from the IMD, calculate a power consumption rate for the IMD, and then display the power consumption on the graphical user interface display using a graphical visual indicator.

Abstract: In one embodiment, an external programming device is operable to determine and graphically display power consumption of an implantable medical device (“IMD”). In accordance with this particular embodiment, the external programming device includes a graphical user interface display and a communication interface operable to receive information from an IMD. In this embodiment, the external programming device is operable to receive IMD parameter settings and/or battery parameter values from the IMD, calculate an power consumption rate for the IMD, and then display the power consumption on the graphical user interface display using a graphical visual indicator.