Visual odometry in autonomous machine applications
US11803192B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 31, 2022 |
| Grant date | Oct 31, 2023 |
| Priority date | — |
| Expiry date | Aug 31, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Systems and methods for performing visual odometry more rapidly. Pairs of representations from sensor data (such as images from one or more cameras) are selected, and features common to both representations of the pair are identified. Portions of bundle adjustment matrices that correspond to the pair are updated using the common features. These updates are maintained in register memory until all portions of the matrices that correspond to the pair are updated. By selecting only common features of one particular pair of representations, updated matrix values may be kept in registers. Accordingly, matrix updates for each common feature may be collectively saved with a single write of the registers to other memory. In this manner, fewer write operations are performed from register memory to other memory, thus reducing the time required to update bundle adjustment matrices and thus speeding the bundle adjustment process.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.