System to determine stationary features by autonomous mobile device
US11442463B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 23, 2019 |
| Grant date | Sep 13, 2022 |
| Priority date | — |
| Expiry date | Aug 25, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An autonomous mobile device moves through a physical space using simultaneous localization and mapping (SLAM) techniques. SLAM processes images from cameras to determine localization and trajectory of the device based on features that are assumed to be stationary. SLAM performance is improved by removing moving features from consideration. A first position of a feature at a first time and data from an inertial sensor are used to determine a predicted position at a second time. The predicted position is compared to a second position of the feature at the second time. This comparison takes into consideration an assumed Gaussian error distribution of how the positions are determined. If the predicted position differs from the second position by less than a threshold value, the feature may be determined to be stationary. The stationary features are then processed using SLAM to determine the localization and trajectory information.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.