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 merging for merging disjointed map and route data with respect to a single origin for autonomous robots are disclosed herein. According to at least one non-limiting exemplary embodiment, a method for redefining a first route, comprising a first origin point and a plurality of state points defined with respect to the first origin, with respect to a second origin point is disclosed herein.

Abstract: Systems and methods for laser and imaging odometry for autonomous robots are disclosed herein. According to at least one non-limiting exemplary embodiment, a robot may utilize images captured by a sensor and encoded with a depth parameter to determine its motion and localize itself. The determined motion and localization may then be utilized to verify calibration of the sensor based on a comparison between motion and localization data based on the images and motion and localization data based on data from other sensors and odometry units of the robot.

Abstract: Systems and methods for determining a pose of a sensor on a robot are disclosed herein. According to at least one non-limiting exemplary embodiment, a pose of a sensor may be determined with respect to a base link frame origin based on a measured discrepancy between localization data of an object by the sensor and another sensor, the discrepancy corresponding to an error in a pose of the sensor. Pose graph optimization may further be utilized to calibrate all sensors of a robot using digital transformations or may be utilized to diagnose errors in poses of one or more sensors.