1. A method for detecting an object by a computerized robotic apparatus configured to clean a surface, the method comprising: configuring a reference pattern, the reference pattern comprising a persistent two-dimensional geometric pattern for display on the surface during movement of the robotic apparatus along the surface, the reference pattern further comprising an object detection portion and a second portion comprising information associated with one or more operational characteristics of the movement of the robotic apparatus along the trajectory; projecting the reference pattern onto a surface in front of the robotic apparatus using a light emitter component, the projecting of the reference pattern comprising projecting (i) the object detection portion and (ii) the second portion comprising the information associated with the one or more operational characteristics of the movement of the robotic apparatus; detecting a reflected pattern by a camera component, the camera component being configured to produce a digital image; analyzing the digital image to determine a parameter of the reflected pattern, the analyzing comprising determining a change within the reflected pattern in comparison to the configured reference pattern; and based on the parameter of the reflected pattern breaching a threshold, producing an indication of the object being present in front of the robotic apparatus.