Methods and systems for mapping, localization, navigation and control and mobile robot

The patent transitions from two-dimensional image feature matching to three-dimensional spatial relationship analysis. By capturing images at multiple positions and calculating spatial relationships between entity objects across these positions, the system achieves accurate localization while maintaining speed. The third dimension (spatial position) is added to the traditional image matching approach, enabling precise position determination through geometric calculations rather than relying solely on single-image feature correspondence.

The system performs preliminary actions by capturing multiple images at different positions before final localization. Instead of determining position from a single image, the robot captures images at multiple positions first, then uses these pre-captured images to calculate the current position through spatial relationship analysis. This preliminary data collection enables both fast and accurate localization.

The image acquisition device serves multiple functions: capturing images for entity object identification, determining spatial positions, calculating robot pose, and supporting navigation. By making the imaging system multi-functional, the patent achieves high mapping precision without proportionally increasing device complexity. The same hardware infrastructure supports multiple computational tasks through software processing.

The patent replaces complex mechanical positioning systems with computational image analysis. Instead of using multiple specialized sensors and complex mechanical positioning mechanisms, the system uses image processing and spatial relationship calculations to achieve precise mapping and localization, reducing mechanical complexity while maintaining or improving precision.