Systems and methods for simultaneous localization and mapping using asynchronous multi-view cameras
US12124269B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 1, 2021 |
| Grant date | Oct 22, 2024 |
| Priority date | — |
| Expiry date | Oct 28, 2042 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60R2300/304
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Systems and methods for the simultaneous localization and mapping of autonomous vehicle systems are provided. A method includes receiving a plurality of input image frames from the plurality of asynchronous image devices triggered at different times to capture the plurality of input image frames. The method includes identifying reference image frame(s) corresponding to a respective input image frame by matching the field of view of the respective input image frame to the fields of view of the reference image frame(s). The method includes determining association(s) between the respective input image frame and three-dimensional map point(s) based on a comparison of the respective input image frame to the one or more reference image frames. The method includes generating an estimated pose for the autonomous vehicle the one or more three-dimensional map points. The method includes updating a continuous-time motion model of the autonomous vehicle based on the estimated pose.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.