Systems and methods for robust self-relocalization in a visual map
US11788845B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Jun 29, 2018 |
| Grant date | Oct 17, 2023 |
| Priority date | — |
| Expiry date | Jan 31, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0088
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Described herein are systems and methods that improve the success rate of relocalization and eliminate the ambiguity of false relocalization by exploiting motions of the sensor system. In one or more embodiments, during a relocalization process, a snapshot is taken using one or more visual sensors and a single-shot relocalization in a visual map is implemented to establish candidate hypotheses. In one or more embodiments, the sensors move in the environment, with a movement trajectory tracked, to capture visual representations of the environment in one or more new poses. As the visual sensors move, the relocalization system tracks various estimated localization hypotheses and removes false ones until one winning hypothesis. Once the process is finished, the relocalization system outputs a localization result with respect to the visual map.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.