Plane panorama location correction in three-dimensional mapping
US9330484B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 30, 2013 |
| Grant date | May 3, 2016 |
| Priority date | — |
| Expiry date | Mar 18, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG09B29/106
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Correction of the locations of panoramas and associated physical locations in a region are disclosed. The task of correcting the locations of the panoramas is divided into XY location correction followed by Z location correction. The panorama set is filtered to remove extraneous planes. In XY-plane correction, neighboring panoramas are identified using a neighbor graph, and the locations of sets of neighboring planes are constrained to be within a specified distance of one another, and a system of linear equations is constructed to represent the locations of the panoramas. A weighted absolute sum of the constraints is minimized across the entire system using a convex quadratic program solver to derive new locations for the planes. The location of ground planes is similarly corrected using a minimization of errors technique.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.