Abstract: An autonomous mobile device moves through a physical space using simultaneous localization and mapping (SLAM) techniques. SLAM processes images from cameras to determine localization and trajectory of the device based on features that are assumed to be stationary. SLAM performance is improved by removing moving features from consideration. A first position of a feature at a first time and data from an inertial sensor are used to determine a predicted position at a second time. The predicted position is compared to a second position of the feature at the second time. This comparison takes into consideration an assumed Gaussian error distribution of how the positions are determined. If the predicted position differs from the second position by less than a threshold value, the feature may be determined to be stationary. The stationary features are then processed using SLAM to determine the localization and trajectory information.

Abstract: Embodiments of the present invention relates to a method, apparatus and computer program product for processing, analyzing and/or display data related to performance metrics, for example, predicted performance metrics. In some embodiments, the apparatus includes one or more computers, a user input device(s), and a display device(s). In some embodiments, the one or more computers are operative, to compute, from historical KPI-related data, predicted future KPI-related behavior. In some embodiments, the display device is operative to display indications of predicted KPI values and/or predicted influencer values and/or a predicted future influencer-ranking-hierarchy and/or calculated deviating influencer values and/or one or more of the deviating future KPI values. In some embodiments, one or more user input devices are configured to receive indications of user-proposed influencer values and/or any other relevant data.