---
publication_id: "OT-2026-000002348"
title: "Modeling robot self-occlusion for localization"
published_at: "2026-09-15T19:12:24.671361Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002348"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1664"
  - "b25j9/1664"
  - "b62d57/032"
  - "b25j19/02"
  - "b25j19/021"
  - "b25j19/021"
---

# Modeling robot self-occlusion for localization

## Abstract

Methods and apparatus for localizing a robot in an environment are provided. The method comprises determining, for a first configuration of the robot at a first time, first sensor data that is not occluded by a portion of the robot, determining, for a second configuration of the robot at a second time, second sensor data that is not occluded by a portion of the robot, determining first overlapping data corresponding to second sensor data that overlaps the first sensor data when the robot is in the first configuration, and localizing the robot in the environment based on the first overlapping data and the second overlapping data.