Method for simultaneous localization and mapping
US11199414B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 14, 2016 |
| Grant date | Dec 14, 2021 |
| Priority date | — |
| Expiry date | Sep 12, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method for simultaneous localization and mapping is provided, which can reliably handle strong rotation and fast motion. The method provided a simultaneous localization and mapping algorithm framework based on a key frame, which can support rapid local map extension. Under this framework, a new feature tracking method based on multiple homography matrices is provided, and this method is efficient and robust under strong rotation and fast motion. A camera orientation optimization framework based on a sliding window is further provided to increase motion constraint between successive frames with simulated or actual IMU data. Finally, a method for obtaining a real scale of a specific plane and scene is provided in such a manner that a virtual object is placed on a specific plane in real size.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.