Embodiments are disclosed for a feature-based simultaneous localization and mapping (SLAM) system and method that generates radio maps for environments that are not accessible for surveying. More accurate radio maps are generated for an unsurveyed environment by determining a best estimate of a mobile device state from harvested traced data that maximizes a posterior probability of the mobile device state given measurements, landmarks and loop constraints.

Techniques and systems are described for generating and using a sound localization model. A described technique includes obtaining for a building a sound sensor map indicating locations of first and second sound sensor devices in respective first and second rooms of the building; causing an autonomous device to navigate to the first room and to emit, during a time window, sound patterns at one or more frequencies within the first room; receiving sound data including first and second sound data respectively from the first and second sound sensor devices that are observed during the time window; and generating and storing a sound localization model based on the sound sensor map, autonomous device location information, and the received sound data, the model being configured to compensate for how sounds travels among rooms in at least a portion of the building such that an origin room of a sound source is identifiable.

A map establishment method and a map establishment system are provided. The map establishment method includes: detecting a physical motion performed by a user and generating motion sensing data by at least one motion sensor; obtaining spatial dimension information, in multiple directions, of a target place where the user is located and information of an obstacle in the target place by a deep learning model according to the motion sensing data; and generating map data according to the spatial dimension information and the information of the obstacle, wherein the map data reflects a contour of the target place where the user is located and a distribution status of at least one obstacle in the target place.

A method of pose calculation for a portable three-dimensional scanning device including a first sensor and a second sensor the method including utilizing data from the first sensor and data from the second sensor to acquire data defining six degrees of freedom of the scanning device to optimize a first pose calculation, receiving data comprising one of data from the first sensor and data from the second sensor, selecting a subset of the six degrees of freedom of the scanning device, utilizing the data from the first sensor and the received data for the selected subset of six degrees of freedom to optimize a second pose, wherein the unselected degrees of freedom are retained from the first pose and storing received data associated with the second camera pose in a point cloud database.

The disclosure describes systems (2) of navigating a hazardous environment (8). The system includes personal protective equipment (PPE) (13) and computing device(s) (32) configured to process sensor data from the PPE (13), generate pose data of an agent (10) based on the processed sensor data, and track the pose data as the agent (10) moves through the hazardous environment (8). The PPE (13) may include an inertial measurement device to generate inertial data and a radar device to generate radar data for detecting a presence or arrangement of objects in a visually obscured environment (8). The PPE (13) may include a thermal image capture device to generate thermal image data for detecting and classifying thermal features of the hazardous environment (8). The PPE (13) may include one or more sensors to detect a fiducial marker (21) in a visually obscured environment (8) for identifying features in the visually obscured environment (8). In these ways, the systems (2) may more safely navigate the agent (10) through the hazardous environment (8).

Centerlines for generating network data of an indoor space can be simplified while the amount of calculation is limited. A centerline simplification unit 240 performs processing of deleting centerlines of passages that are movable regions in an indoor space and processing of correcting centerlines. A determination unit 242 determines whether or not the simplification has ended based on the number of centerlines or the number of vertices connecting the centerlines.

Provided is a process that includes: obtaining a first version of a map of a workspace; selecting a first undiscovered area of the workspace; in response to selecting the first undiscovered area, causing the robot to move to a position and orientation to sense data in at least part of the first undiscovered area; and obtaining an updated version of the map mapping a larger area of the workspace than the first version.

A method of operating an autonomous cleaning robot is described. The method includes initiating a training run of the autonomous cleaning robot and receiving, at a mobile device, location data from the autonomous cleaning robot as the autonomous cleaning robot navigates an area. The method also includes presenting, on a display of the mobile device, a training map depicting portions of the area traversed by the autonomous cleaning robot during the training run and presenting, on the display of the mobile device, an interface configured to allow the training map to be stored or deleted. The method also includes initiating additional training runs to produce additional training maps and presenting a master map generated based on a plurality of stored training maps.

A system for automatically annotating a map includes: a robot; a server operably connected to the robot; file storage configured to store files, the file storage operably connected to the server; an annotations database operably connected to the server, the annotations database comprising map annotations; an automatic map annotation service operably connected to the server, the automatic map annotation service configured to automatically do one or more of create a map of an item of interest and annotate a map of an item of interest; a queue of annotation requests operably connected to the automatic annotation service; and a computer operably connected to the server, the computer comprising a graphic user interface (GUI) usable by a human user.

The disclosure describes systems of navigating a hazardous environment. The system includes personal protective equipment (PPE) and computing device(s) configured to process sensor data from the PPE, generate pose data of an agent based on the processed sensor data, and track the pose data as the agent moves through the hazardous environment. The PPE may include an inertial measurement device to generate inertial data and a radar device to generate radar data for detecting a presence or arrangement of objects in a visually obscured environment. The PPE may include a thermal image capture device to generate thermal image data for detecting and classifying thermal features of the hazardous environment. The PPE may include one or more sensors to detect a fiducial marker in a visually obscured environment for identifying features in the visually obscured environment. In these ways, the systems may more safely navigate the agent through the hazardous environment.