Systems and methods for determining whether to add a landmark for visual simultaneous localization and mapping
US8095336B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 20, 2010 |
| Grant date | Jan 10, 2012 |
| Priority date | — |
| Expiry date | Jul 20, 2030 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/50
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. One embodiment maintains the particles, thereby permitting the SLAM processes to be performed in software using microprocessor-based computer systems.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.