US Patent 11480973 Robotic mower boundary detection system

A computer-implemented method includes obtaining image data representing a set of images of a worksite captured by an image capture component of a mobile computing device, identifying a set of virtual markers associated with the set of images, each virtual marker having a corresponding position in one of the images, and determining, for each virtual marker, a set of coordinates in a coordinate system based on the corresponding position of the virtual marker. Based on the set of coordinates, boundary data is generated that represents a boundary on the worksite. The boundary data is communicated to a robotic mower for control of the robotic mower within an operating area defined based on the boundary.