Abstract: A physical space contains stationary objects that do not move over time (e.g., a couch) and may have non-stationary objects that do move over time (e.g., people and pets). An autonomous mobile device (AMD) determines and uses an occupancy map of stationary objects to find a route from one point to another in a physical space. Non-stationary objects are detected and prevented from being incorrectly added to the occupancy map. Point cloud data is processed to determine first candidate objects. Image data is processed to determine second candidate objects. These candidate objects are associated with each other and their characteristics assessed to determine if the candidate objects are stationary or non-stationary. The occupancy map is updated with stationary obstacles. During navigation, the occupancy map may be used for route planning while the non-stationary objects are used for local avoidance.

Abstract: An apparatus for guiding an autonomous vehicle towards a docking station including an autonomous vehicle with a camera-based sensing system, a drive system for driving the autonomous vehicle, and a control system for controlling the drive system. The apparatus includes a docking station including a first fiducial marker and a second fiducial marker, wherein the second fiducial marker is positioned on the docking station to define a predetermined relative spacing with the first fiducial marker, wherein the control system is operable to receive an image provided by the camera-based sensing system, the image including a representation of the first and second fiducial markers, and to control the drive system so as to guide the autonomous vehicle towards the base station based on a difference between the representation of the first and second fiducial markers in the received image and the predetermined relative spacing between the first and second fiducial markers.

Abstract: An apparatus for guiding an autonomous vehicle towards a docking station including an autonomous vehicle with a camera-based sensing system, a drive system for driving the autonomous vehicle, and a control system for controlling the drive system. The apparatus includes a docking station including a first fiducial marker and a second fiducial marker, wherein the second fiducial marker is positioned on the docking station to define a predetermined relative spacing with the first fiducial marker, wherein the control system is operable to receive an image provided by the camera-based sensing system, the image including a representation of the first and second fiducial markers, and to control the drive system so as to guide the autonomous vehicle towards the base station based on a difference between the representation of the first and second fiducial markers in the received image and the predetermined relative spacing between the first and second fiducial markers.