Method, system and apparatus for localization-based historical obstacle handling

1. A method of obstacle handling for a mobile automation apparatus, the method comprising:

obtaining an initial localization of the mobile automation apparatus in a frame of reference;

detecting an obstacle by one or more sensors disposed on the mobile automation apparatus;

generating an initial location of the obstacle in the frame of reference, based on (i) the initial localization, and (ii) a detected position of the obstacle relative to the mobile automation apparatus;

storing, in association with the initial location of the obstacle, a confidence level associated with the initial localization;

obtaining a correction to the initial localization of the mobile automation apparatus;

determining a positional adjustment to the initial position of the obstacle as a portion of the localization correction based on the confidence level, wherein the portion is inversely proportional to the confidence level; and

applying the positional adjustment to generate an updated position of the obstacle.

2. The method of claim 1 , wherein obtaining the correction to the initial localization includes:

obtaining an updated localization of the mobile automation apparatus and odometry data; and

determining a difference between (i) the updated localization and (ii) the initial localization modified by the odometry data.

3. The method of claim 2 , further comprising:

obtaining an adjustment radius; and

determining a distance between the updated localization and the initial location of the obstacle;

wherein the positional adjustment is null when the distance exceeds the adjustment radius.

4. The method of claim 3 , further comprising: when the distance does not exceed the adjustment radius, generating the positional adjustment as a portion of the correction to the initial localization, the portion being inversely proportional to the distance.

5. The method of claim 3 , further comprising: when the distance does not exceed the adjustment radius, generating the positional adjustment as equal to the correction to the initial localization.

6. The method of claim 3 , wherein obtaining the adjustment radius includes:

obtaining a confidence level associated with the updated localization; and

increasing or decreasing a default adjustment radius according to the confidence level.

7. A mobile automation apparatus, comprising:

a memory;

at least one navigational sensor; and

a navigational controller connected to the memory and the at least one navigational sensor, the navigational controller configured to:

obtain an initial localization of the mobile automation apparatus in a frame of reference;

detect an obstacle via the at least one navigational sensor;

generate an initial location of the obstacle in the frame of reference, based on (i) the initial localization, and (ii) a detected position of the obstacle relative to the mobile automation apparatus;

store, in association with the initial location of the obstacle, a confidence level associated with the initial localization;

obtain a correction to the initial localization;

determine a positional adjustment as a portion of the localization correction based on the confidence level, wherein the portion is inversely proportional to the confidence level; and

apply the positional adjustment to generate an updated position of the obstacle.

8. The mobile automation apparatus of claim 7 , wherein the navigational controller is configured, in order to obtain the correction to the initial localization, to:

obtain an updated localization of the mobile automation apparatus and odometry data; and

determine a difference between (i) the updated localization and (ii) the initial localization modified by the odometry data.

9. The mobile automation apparatus of claim 8 , wherein the navigational controller is further configured to:

obtain an adjustment radius; and

determine a distance between the updated localization and the initial location of the obstacle;

wherein the positional adjustment is null when the distance exceeds the adjustment radius.

10. The mobile automation apparatus of claim 9 , wherein the navigational controller is further configured to: when the distance does not exceed the adjustment radius, generate the positional adjustment as a portion of the correction to the initial localization, the portion being inversely proportional to the distance.

11. The mobile automation apparatus of claim 9 , wherein the navigational controller is further configured to: when the distance does not exceed the adjustment radius, generate the positional adjustment as equal to the correction to the initial localization.

12. The mobile automation apparatus of claim 9 , wherein the navigational controller is further configured, in order to obtain the adjustment radius, to:

obtain a confidence level associated with the updated localization; and

increase or decrease a default adjustment radius according to the confidence level.

13. A non-transitory computer readable medium storing computer readable instructions for execution by a navigational controller, the instructions comprising:

obtaining an initial localization of a mobile automation apparatus in a frame of reference;

detecting an obstacle via at least one navigational sensor disposed on the mobile automation apparatus;

generating an initial location of the obstacle in the frame of reference, based on (i) the initial localization, and (ii) a detected position of the obstacle relative to the mobile automation apparatus;

storing, in association with the initial location of the obstacle, a confidence level associated with the initial localization;

obtaining a correction to the initial localization;

determining a positional adjustment to the initial position of the obstacle as a portion of the localization correction based on the confidence level, wherein the portion is inversely proportional to the confidence level; and

applying the positional adjustment to generate an updated position of the obstacle.

14. The non-transitory computer readable medium of claim 13 , wherein the instructions further comprise:

obtaining an updated localization of the mobile automation apparatus and odometry data; and

determining a difference between (i) the updated localization and (ii) the initial localization modified by the odometry data.

15. The non-transitory computer readable medium of claim 14 , wherein the instructions further comprise obtaining an adjustment radius and determining a distance between the updated localization and the initial location of the obstacle, wherein the positional adjustment is null when the distance exceeds the adjustment radius.

16. The non-transitory computer readable medium of claim 15 , wherein the instructions further comprise:

when the distance does not exceed the adjustment radius, generating the positional adjustment as a portion of the correction to the initial localization, the portion being inversely proportional to the distance.