Systems and methods of detecting loop closure in simultaneous localization and mapping (SLAM) applications
US10318659B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 17, 2015 |
| Grant date | Jun 11, 2019 |
| Priority date | — |
| Expiry date | Aug 27, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F30/13
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Computer-implemented methods and systems for detecting loop closure in SLAM applications can include accessing one or more range measurement data scans that each provide a collection of consecutively observed spatial data obtained at a given location. A relative scan pose for each range measurement data scan can be determined. Frames from each of the one or more range measurement data scans then can be aligned to frames within one or more submaps based at least in part by the determined relative scan pose. An enhanced scan pose for each range measurement data scan and an enhanced submap pose for each submap can be periodically determined and used to identify one or more closed loops within the one or more submaps. An output indicative of the identified one or more closed loops can be provided, along with optionally generated floorplan maps and/or given location determinations.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.