Computationally efficient method for computing a composite representation of a 3D environment
US12100181B2 · kind B2 · utility
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Key dates
| Filing date | May 10, 2021 |
| Grant date | Sep 24, 2024 |
| Priority date | — |
| Expiry date | Sep 17, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Methods and apparatus for providing a representation of an environment, for example, in an XR system, and any suitable computer vision and robotics applications. A representation of an environment may include one or more planar features. The representation of the environment may be provided by jointly optimizing plane parameters of the planar features and sensor poses that the planar features are observed at. The joint optimization may be based on a reduced matrix and a reduced residual vector in lieu of the Jacobian matrix and the original residual vector.
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