Patent Document ID: 9739616
Application ID: 14123062
Patent Status: 1

Claim One:
1. A computer implemented method for localizing a wheeled robot/vehicle using a laser sensor, comprising: scanning an angular section of a surrounding environment of the wheeled robot/vehicle by the laser sensor, wherein the laser sensor is mounted on a rotary actuator of the wheeled robot/vehicle; identifying a target, wherein identifying the target includes detecting edges on the target and recognizing a pattern of the target based on the scanning by the laser sensor, wherein detecting the edges on the target is based on laser sensor measurements and rotary actuator angular positions of the rotary actuator, and wherein detecting the edges on the target includes identifying two edges that have a minimum length equal to a minimum depth of the target; transforming the laser sensor measurements and the rotary actuator angular positions into vehicular coordinates, wherein the vehicular coordinates are associated to the target as identified from the laser sensor and derived from time instant points corresponding to the two edges, wherein the time instant points are joined in a straight line; determining global coordinates for the vehicular coordinates based on a slope of the straight line; and controlling the wheeled robot/vehicle to travel autonomously based on the global coordinates.