Online environment mapping
US8913055B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | May 30, 2012 |
| Grant date | Dec 16, 2014 |
| Priority date | — |
| Expiry date | Mar 1, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A system and method are disclosed for online mapping of large-scale environments using a hybrid representation of a metric Euclidean environment map and a topological map. The system includes a scene module, a location recognition module, a local adjustment module and a global adjustment module. The scene flow module is for detecting and tracking video features of the frames of an input video sequence. The scene flow module is also configured to identify multiple keyframes of the input video sequence and add the identified keyframes into an initial environment map of the input video sequence. The location recognition module is for detecting loop closures in the environment map. The local adjustment module enforces local metric properties of the keyframes in the environment map, and the global adjustment module is for optimizing the entire environment map subject to global metric properties of the keyframes in the keyframe pose graph.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.