System and method for integrating objects in monocular slam
US11670047B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 1, 2020 |
| Grant date | Jun 6, 2023 |
| Priority date | — |
| Expiry date | Oct 23, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The embodiments herein provide a system and method for integrating objects in monocular simultaneous localization and mapping (SLAM). State of art object SLAM approach use two popular threads. In first, instance specific models are assumed to be known a priori. In second, a general model for an object such as ellipsoids and cuboids is used. However, these generic models just give the label of the object category and do not give much information about the object pose in the map. The method and system disclosed provide a SLAM framework on a real monocular sequence wherein joint optimization is performed on object localization and edges using category level shape priors and bundle adjustment. The method provides a better visualization incorporating object representations in the scene along with the 3D structure of the base SLAM system, which makes it useful for augmented reality (AR) applications.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.