Thanks Corey, Yes indeed GPS sucks on the sidewalk. Outdoor feature-based SLAM is the way to go. Congrats on getting the robot to go navigate 12K by itself wit

Thanks Corey, Yes indeed GPS sucks on the sidewalk. Outdoor feature-based SLAM is the way to go. Congrats on getting the robot to go navigate 12K by itself with no loss of localisation. The human operator is the backup, similar to Starship. A separate mapping operation needs to be done first to pre-learn routes. Recovering from lost localisation is tough and will need people to go recover the unit. The Zed 3D camera operates better outdoors than the Asus, and solid state lidar sensors like Quanergy's are coming to market at a rapid pace and lowering costs. http://spectrum.ieee.org/cars-that-think/transportation/sensors/quanergy-solid-state-lidar http://spectrum.ieee.org/cars-that-think/transportation/sens... Crowds are tough too. The robot would not want to move too much in a crowd, and perhaps is best for it to just stay still until the crowd passes and it can re-localise. These solutions and technologies are only going to get better with time, not worse, so it'll be a much easier problem given some short time.