Method and device for extracting key frames in simultaneous localization and mapping and smart device
US11466988B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 31, 2019 |
| Grant date | Oct 11, 2022 |
| Priority date | — |
| Expiry date | Feb 24, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S17/89
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method and device for extracting key frames in simultaneous localization and mapping and a smart device. The method includes acquiring an image frame from an image library storing a plurality of image frames of an unknown environment, and performing feature extraction on the image frame to obtain information of feature points, wherein the information includes a quantity of feature points; acquiring relative motion information of the image frame relative to the previous key frame, and calculating an adaptive threshold currently used by using the relative motion information; and selecting a key frame according to the information of feature points and the adaptive threshold indicating space information of image frames.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.