公开(公告)号：US11912304B1

公开(公告)日：2024-02-27

申请号：US17445861

申请日：2021-08-25

Applicant: AMAZON TECHNOLOGIES, INC.

Inventor： Anton Kalachev ,  Xiaoxu Liu ,  Richard W. Kim ,  Anthony George Robson

IPC: G05D1/00 ,  G05D1/02 ,  B60L53/36 ,  B60W60/00

CPC classification number: B60W60/0011 ,  G05D1/0088 ,  G05D1/0225 ,  G05D1/0274 ,  B60L53/36

Abstract: An autonomous mobile device (AMD) moves in a physical space and uses a dock located at a first pose. Sometimes a user may move the dock. To determine whether the dock has moved, the AMD compares first pose data that was previously obtained while at the dock in the first pose to second pose data, such as after a restart or after leaving the dock. If a difference between the first pose and the second pose is greater than a threshold, the dock has moved. The pose data may be determined using a simultaneous localization and mapping (SLAM) algorithm to process images from cameras on the AMD. Transform data that relates coordinates of the second pose to coordinates of the first pose may be determined. If the dock is used as an origin for a map of the physical space, the transform data may be used to update the map.