Loop closure detection method, mobile device and computer readable storage medium
US11423646B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 20, 2020 |
| Grant date | Aug 23, 2022 |
| Priority date | — |
| Expiry date | Dec 19, 2040 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04N23/90
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A loop closure detection method, a mobile device, and a computer readable storage medium are provided. The method includes: collecting images in different detection directions simultaneously through C0 cameras installed on the mobile device to obtain an image data group comprising C0 images; calculating feature information of each image in the image data group; performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread; and determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread. In this manner, cross detections in a plurality of detection directions can be realized, which breaks through the limitation of loop closure detection in the prior art with respect to path direction, avoids repeated paths in the same direction, and greatly improves the mapping efficiency.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.