Method for processing feature measurements in vision-aided inertial navigation
US10247556B2 · kind B2 · utility
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19Claims
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Key dates
| Filing date | Jul 23, 2014 |
| Grant date | Apr 2, 2019 |
| Priority date | — |
| Expiry date | Jul 23, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/13
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A mobile platform having a camera for outputting image data of features with unknown locations, an inertial measurement unit for outputting inertial measurements of the features, where the coordinates of the features are unknown, a processor, storage and an extended-Kalman filter-based estimator executable on the processor for processing the inertial measurement and features of the image data, where a state vector of the estimator contains a sliding window of states for determining the position and orientation of the mobile platform.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.