Abstract: An autonomous delivery robot system to enable delivery of a product to a customer is described. One autonomous ground vehicle (AGV) includes a processing device that receives a delivery request comprising a route divided into multiple navigation segments and computes a navigable space from perception data stored in a perception map. The perception map is a robot-centered local map that stores the perception data indicative of the surroundings of the AGV. The processing device computes a cost inflation from the perception data stored in the perception map, determines a sub-goal that is on the navigable space and reachable by the AGV using the navigable space and the cost inflation, and determines a path to achieve the sub-goal using the using the navigable space and the cost inflation. The processing device controls one or more actuators to move along the path.

Abstract: In one embodiment, a system and method automatically identifying shadows in an image by segmenting the image into a plurality of discrete segments, measuring multiple features of each segment, the features being indicative as to whether the segment is or is not shadow, and automatically determining as to each segment whether the segment is or is not shadow based upon the individual feature measurements.