US Patent 10466713 Robotic navigation and mapping

Some embodiments efficiently locate and map item locations in a distribution site using robots and a set of markers that the robots can scan without cessation of movement. Some embodiments optimally position a robot for item retrieval or placement. The optimal position is determined by affine transform computation or feature mapping. The robot first aligns itself according to the expected item position as indicated by one or more of the markers. The alignment is determined based on size and orientation of the markers in images obtained using the robot's camera. The robot then aligns itself according to the actual item position. Here, the repositioning is determined based on size and orientation of the actual item in images obtained using the robot's camera. Using the robot cameras and feature mapping, robots can traverse the shelves to identify and map item location therein.