Robot Localization Correction for Odometry Drift and Posture Reset

The patent introduces an intermediary correction system that includes a processor-based system with camera and sensor arrays. This intermediary system captures images and sensor data, processes them to determine actual position and orientation, and generates correction values that compensate for odometry errors caused by wheel slippage, unequal wheel diameters, and inaccurate wheel base distances.

The patent replaces the purely mechanical odometry system (which relies on wheel encoders and mechanical measurements) with an optical and sensor-based system. The processor-based system uses camera images and sensor data to optically determine the robot's actual position and orientation, substituting the mechanical wheel-revolution-to-linear-translation method with a vision-based measurement approach that is not affected by wheel slippage or mechanical imperfections.

The patent implements a feedback mechanism where the processor-based system continuously monitors the robot's actual position and orientation by processing camera images and sensor data. The system compares the actual position with the planned course, calculates deviation, and generates correction values that are fed back to the navigation system to compensate for accumulated errors from wheel slippage and mechanical variations.

The patent replaces the mechanical wheel encoder odometry system with an optical feedback system. Instead of relying on mechanical wheel revolutions to estimate position, the system uses camera images and sensor data to directly measure the robot's actual position and orientation, providing accurate feedback that is not affected by mechanical imperfections or wheel slippage.

The patent replaces traditional mechanical odometry correction methods with a processor-based optical system. The system uses camera images and sensor data to directly measure the robot's actual position and orientation, then uses image processing algorithms to calculate precise correction values that effectively eliminate accumulated errors, enabling reliable automatic posture correction.

The patent introduces a processor-based system as an intermediary between the robot's motion and its position estimation. This intermediary system processes camera images and sensor data to determine actual position and orientation, generating correction values that reliably eliminate accumulated errors and enable automatic posture correction, rather than relying on imperfect mechanical correction methods.