公开(公告)号：US20250068165A1

公开(公告)日：2025-02-27

申请号：US18454126

申请日：2023-08-23

Applicant: Locus Robotics Corp.

Inventor： Changchun Li ,  Stephen V. Williams

IPC: G05D1/02

Abstract: A method for estimating a pose of a robot using two co-planar points on an object plane in the environment and two co-planar lines on the object plane, includes capturing with a camera on the robot an image of the object in the environment, including two observed points corresponding to the two co-planar points on the object and two observed lines corresponding to the two co-planar lines on the object; projecting onto the image plane the two co-planar points to obtain two projected points and projecting the two co-planar lines to obtain two projected lines; determining a point projection error by comparing the two projected co-planar points to corresponding observed points; determining a line projection error by comparing the two projected co-planar lines to corresponding observed lines; and estimating a current robot pose if the point projection error and the line projection error are below a predetermined error threshold.