Patent ID: 11960304
Assignee: IROBOT CORPORATION
Field: Control (Instruments)
Classification: CPC G  A  B  Y | IPC B  G

Claim 12:
13. A method comprising:
maneuvering an autonomous mobile robot in a first mode along a first path segment of a portion of a surface of a room as a contact sensor of the autonomous mobile robot encounters a landmark in the room and generates first data comprising data indicative of a geometry of the first path segment of the portion of the surface;
maneuvering the autonomous mobile robot in a second mode different than the first mode to a second path segment of the portion of the surface such that the contact sensor encounters the landmark and generates second data, the second data comprising data indicative of the geometry of the second path segment of the portion of the surface;
generating an estimate of accumulated drift while the autonomous mobile robot moves about the room using one or more sensors including an accelerometer associated with the autonomous mobile robot, and determining a robot pose confidence level based at least in part on the estimate of accumulated drift;
in response to a robot pose confidence level being below a predetermined confidence limit, maneuvering the autonomous mobile robot to a suspected location of the first path segment different than a position where the pose confidence level is determined to be below the predetermined confidence and operating in the first mode therein, and localizing the autonomous mobile robot relative to the room at the suspected location based on a degree of match between the respective geometries of the first path segment and the second path segment; and
right after the localization, maneuvering the autonomous mobile robot to return to the position where the robot pose confidence level being below the predetermined confidence limit based at least on a result of the localization at the suspected location of the first path segment, and resuming the second mode of operation therein.