Methods, apparatuses, systems, and storage media for loading visual localization maps
US11403779B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 8, 2019 |
| Grant date | Aug 2, 2022 |
| Priority date | — |
| Expiry date | Jan 11, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
According to some aspects of the present disclosure, a method for loading a visual localization map is provided. The method may include: localizing a current pose; predicting, based on the current pose, a set of group numbers to be loaded for the visual localization map, wherein each group number in the set of group numbers to be loaded corresponds to a sub-map file of the visual localization map, wherein the visual localization map includes a master map file and a plurality of sub-map files, wherein the plurality of sub-map files respectively store map data of corresponding groups obtained by grouping the visual localization map based on key frames, and wherein key frame index information for indexing the plurality of sub-map files is stored in the master map file; and loading corresponding sub-map files based on the group numbers in the set of group numbers to be loaded.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.