Visual SLAM method and apparatus based on point and line features
US11270148B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 19, 2020 |
| Grant date | Mar 8, 2022 |
| Priority date | — |
| Expiry date | Mar 19, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V20/46
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Systems and methods of visual simultaneous localization and mapping (SLAM) based on point and line features are disclosed. The method includes: receiving a visual image frame input by a camera device; extracting feature points and feature lines from the visual image frame; predicting a first pose of the camera device using the feature points; observing an extracted first feature line to determine a feature line measurement of the first feature line; obtaining a global feature line state vector set of the camera device, where the global feature line state vector set includes feature line state vectors of N historical feature lines, and N is a positive integer; and updating the first pose using the feature line measurement and the global feature line state vector set. In this way, feature point-based motion estimations and observation features of feature lines observed in an environment are integrated to update a pose of the camera device in real time, thereby improving visual SLAM accuracy.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.