System and method for concurrent odometry and mapping
US10802147B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 15, 2017 |
| Grant date | Oct 13, 2020 |
| Priority date | — |
| Expiry date | May 15, 2037 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04N13/243
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
An electronic device tracks its motion in an environment while building a three-dimensional visual representation of the environment that is used to correct drift in the tracked motion. A motion tracking module estimates poses of the electronic device based on feature descriptors corresponding to the visual appearance of spatial features of objects in the environment. A mapping module builds a three-dimensional visual representation of the environment based on a stored plurality of maps, and feature descriptors and estimated device poses received from the motion tracking module. The mapping module provides the three-dimensional visual representation of the environment to a localization module, which identifies correspondences between stored and observed feature descriptors. The localization module performs a loop closure by minimizing the discrepancies between matching feature descriptors to compute a localized pose. The localized pose corrects drift in the estimated pose generated by the motion tracking module.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.