METHOD AND APPARATUS FOR USING PRE-POSITIONED OBJECTS TO LOCALIZE AN INDUSTRIAL VEHICLE
Methods and apparatuses for using at least one movable, pre-positioned object as a landmark to localize an industrial vehicle are described. The method includes placing at least one movable, pre-positioned object within a physical environment, identifying features from the pre-positioned object, and determining an industrial vehicle pose relative to the movable, pre-positioned object.
1 . A method of using at least one movable, pre-positioned object as a landmark to localize an industrial vehicle, comprising:
identifying a feature from at least one movable, pre-positioned object within a physical environment; and
determining industrial vehicle pose relative to the movable, pre-positioned object.
2 . The method of claim 1 , wherein the pre-positioned object is placed within a physical environment by at least one of a first vehicle, an automated industrial vehicle, industrial vehicle, or conveyer system.
3 . The method of claim 1 , wherein the pre-positioned object is removed from within a physical environment by at least one of a first vehicle, an automated industrial vehicle, industrial vehicle, or conveyer system.
4 . The method of claim 2 , wherein the features of the placed object are stored in a database map.
5 . The method of claim 4 , wherein the sensor observable features are described by a model of the object.
6 . The method of claim 1 , wherein identifying the pre-positioned object comprises accessing a database comprising object information.
7 . The method of claim 6 , wherein the pre-positioned object information comprises object identity, object pose, and object pose uncertainty.
8 . The method of claim 7 , wherein the database comprising object information is updated.
9 . The method of claim 1 , wherein the pre-positioned object comprises a unique landmark.
10 . The method of claim 9 , wherein the unique landmark comprises a unique identifier that is readable using sensors located upon or within the industrial vehicle.
11 . The method of claim 10 , wherein the unique identifier is at least one of a barcode, RFID tag, unique structural features, or uniquely positioned reflectors.
12 . The method of claim 10 , wherein the unique identifier seeds an initial vehicle pose.
13 . The method of claim 1 , wherein a second vehicle uses the pre-positioned object for localization.
14 . The method of claim 1 , wherein a second vehicle identifies the pre-positioned object and determines an industrial vehicle pose.
15 . An apparatus to navigate an industrial vehicle, comprising:
a computer coupled to an industrial vehicle, comprising:
an environment based navigation module for identifying feature from at least one of movable, pre-positioned object within a physical environment; and
determining industrial vehicle pose in response to the sensor readings from the pre-positioned object.
16 . The apparatus of claim 14 , wherein the computer further comprises a database coupled to the computer, the database including object information to identify the pre-positioned object.
17 . The apparatus of claim 15 , wherein the object information comprises object identity and object pose.
18 . The apparatus of claim 14 , wherein the pre-positioned object comprises a unique landmark.
19 . The apparatus of claim 17 , wherein the unique landmark comprises a unique identifier that is readable using sensors located upon or within the industrial vehicle.
20 . The apparatus of claim 18 , wherein the unique identifier is at least one of a barcode, RFID tag, unique structural features, or uniquely positioned reflectors.