System and method for monocular simultaneous localization and mapping
US10636198B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Dec 28, 2017 |
| Grant date | Apr 28, 2020 |
| Priority date | — |
| Expiry date | Mar 21, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for simultaneous localization and mapping. The method includes the step of detecting two-dimensional (2D) feature points from a current frame captured by a camera; matching the 2D feature points from the current frame directly to three-dimensional (3D) map points in a 3D map, so as to obtain correspondence between the 2D feature points and the 3D map points; and computing a current pose of the camera based on the obtained correspondence. Each of the 2D feature points and the 3D map points has a feature descriptor. The step of matching is performed by comparing the feature descriptors of the 2D feature points and the feature descriptors of the 3D map points.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.