Self-localizing system operative in an unknown environment
A system configured to operate in an unknown, possibly texture-less environment, with possibly self-similar surfaces, and comprising a plurality of platforms configured to operate as mobile platforms, where each of these platforms comprises an optical depth sensor, and one platform operates as a static platform and comprising at least one optical projector. Upon operating the system, the static platform projects a pattern onto the environment, wherein each of the mobile platforms detects the pattern or a part thereof by its respective optical depth sensor while moving, and wherein information obtained by the optical depth sensors, is used to determine moving instructions for mobile platforms within that environment. Optionally, the system operates so that every time period another mobile platform from among the plurality of platforms, takes the role of operating as the static platform, while the preceding platform returns to operate as a mobile platform.
1. A system configured to operate in an unknown environment and comprising a plurality of platforms configured to operate as mobile platforms, where each of said plurality of mobile platforms comprises an optical depth sensor, and one or more different platforms are configured to operate as static platforms, each comprising at least one optical projector,
wherein upon operating said system in an unknown environment, the at least one static platform is configured to project a pattern within the unknown environment,
wherein each of the plurality of mobile platforms is configured to detect said pattern or a part thereof by its respective optical depth sensor, and
wherein information obtained by said optical depth sensors, is received by at least one processor and used to determine moving instructions for at least one mobile platform within the unknown environment,
wherein the system comprises at least two mobile units which are mechanically linked to each other, and wherein at a given time, at least one of the at least two mobile units acts as a static platform and wherein at least one of the other at least two mobile units is configured to change its position with respect to the mobile unit acting as the static platform.
2. A system configured to operate in an unknown environment and comprising a plurality of platforms configured to operate as mobile platforms, wherein each of said plurality of mobile platforms comprises at least one optical depth sensor and at least one optical projector,
wherein upon operating said system in an unknown environment, a first platform is selected from among the plurality of mobile platforms to operate as a static platform, and to project a pattern within the unknown environment,
wherein each of the remaining mobile platforms is configured to detect said pattern or a part thereof by its respective optical depth sensor,
wherein information obtained by said optical depth sensors, is received by at least one processor and used to determine moving instructions for at least one mobile platform within the unknown environment,
and wherein said system is further adapted to select a second platform from among the plurality of mobile platforms to operate as a static platform and to project a pattern within the unknown environment, and to change mode of operation of said first platform from operating as a static platform, to a platform operating as a mobile platform.