Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robot navigation. One of the methods includes obtaining one or more images of an area from a robot; detecting two or more lines within the one or more images; identifying at least two of the two or more lines as vanishing lines; determining, using the vanishing lines, a correction maneuver; and controlling the robot to implement the correction maneuver.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for improving visual inertial odometry (VIO). One of the methods includes identifying two or more parameters of a robot; generating, using the two or more parameters, a multi-dimensional space; generating two or more configurations for the robot by sampling the multi-dimensional space; determining, for each of the two or more configurations, a visual inertial odometry (VIO) trajectory; generating, for each of the trajectories using the corresponding trajectory and a ground truth trajectory, (i) error data representing a difference of the corresponding trajectory from the ground truth trajectory and (ii) processing data representing processing metrics from the determination of the corresponding trajectory; selecting, using (i) the error data and (ii) the processing data, a configuration of the two or more configurations; and providing, to the robot, the selected configuration for navigating an area.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for robot navigation. One of the methods includes obtaining one or more images of an area from a robot; detecting two or more lines within the one or more images; identifying at least two of the two or more lines as vanishing lines; determining, using the vanishing lines, a correction maneuver; and controlling the robot to implement the correction maneuver.