Brought to my attention for retail inventory applications.
" ... Cognitive Operational Systems, LLC (COSY) is a spinout of UPenn's GRASP Laboratory. The company focuses on leveraging University research for enabling industry solutions in computer vision, perception, and artificial intelligence. COSY became one of the early occupants of Pennovation Works in the summer of 2015.
COSY technology enables robots to navigate retail store floors, managing inventory, ensuring planogram and promotional compliance. COSY will also map stores including layout and architecture. And that's only the beginning...
COSY’s “beacon-free” technology provides indoor localization and turn-by-turn navigation in environments with no GPS — like indoors. This back-end technology can be used to enable augmented reality interfaces, audio-based navigation aids for the blind, and even mobile drones. ... "
Also, their blog.