Method and system for concurrent reconstruction of dynamic and static objects
US10832078B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 11, 2017 |
| Grant date | Nov 10, 2020 |
| Priority date | — |
| Expiry date | Oct 13, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10028
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
An imaging system for localization and mapping of a scene including static and dynamic objects. A sensor acquires a sequence of frames in motion or stationary. A memory to store a static map of static objects and an object map of each dynamic object in the scene. The static map includes a set of landmarks, and the object map includes a set of landmarks and a set of segments. A localizer registers keypoints of the frame with landmarks in the static map using frame-based registration and to register some segments in the frame with segments in the object map using a segment-based registration. A mapper to update each object map with keypoints forming each segment and keypoints registered with the corresponding object map according to the segment-based registration, and to update the static map with the remaining keypoints in the frame using the keypoints registered with the static map.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.