Patent ID: 8679260

Claim:
A system for cleaning an environment using an automated cleaning device, the system comprising: an automatic cleaning device comprising a processing device and a computer-readable storage medium; and a video camera in communication with the automatic cleaning device; wherein the computer-readable storage medium comprises programming instructions for: generating, by the processing device, a digital representation of a map of an area navigated by the automatic cleaning device, sending, to the video camera, one or more instructions to search for a color in an area having a color value that is within a tolerance range, receiving, from the video camera, information associated with at least a portion of the area that corresponds to the color value, receiving, by the processing device, position data for the automatic cleaning device from one or more sensors associated with the automatic cleaning device, comparing, by the processing device, each of the received information and the received position data to the digital representation of the map to determine which of the received information and the received position data has a least amount of error relative to a current position of the automatic cleaning device, using the received information to adjust a current position of the automatic cleaning device if the received information has the least amount of error, and cleaning at least a portion of a path along which the automatic cleaning device is navigated.