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Vision Robotics Technology
Perimeter Mapping
The perimeter map represents the "fixed" features of the environment including walls, moldings and doors inside, or trees, buildings, fences and rocks for outdoor robots. During the initial exploration, the robots travel throughout the area and identify features on the perimeter. The landmark 3-D database in conjunction with the 3-D grid is used to help define the perimeter and what objects are on the perimeter. Note that the perimeter is not just the outside area but also can contain inner walls of a house. If an environment, such as a golf course, is not clearly delineated, cones or flags may be used for exploration and removed during use. The boundaries may also be programmed by remotely driving the robot around the perimeter. In addition, the robots note the ground contours, ground cover and other environmental characteristics to aid localization during the mowing or other task.
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