Methods, apparatus, and systems for localization and mapping
US10782137B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 18, 2019 |
| Grant date | Sep 22, 2020 |
| Priority date | — |
| Expiry date | Dec 18, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A VSLAM method includes receiving an image obtained by a visual sensor. The method also includes retrieving a key frame from a pre-established key frame database, and after the key frame is retrieved, matching the image with the retrieved key frame. The method also includes computing relevant information of a visual relative pose based on the image and the key frame. The visual relative pose is computed based on two-dimensional coordinates of matching feature points between the image and the key frame that have been successfully matched. The method further includes updating an absolute pose and a map of a mobile device based on the relevant information of the visual relative pose and relevant information of a dead reckoning based relative pose, if the relevant information of the visual relative pose is obtained.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.