Method for mapping an environment
US9412173B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Apr 22, 2014 |
| Grant date | Aug 9, 2016 |
| Priority date | — |
| Expiry date | Apr 22, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for mapping an environment comprises moving a sensor along a path from a start location (P0) through the environment, the sensor generating a sequence of images, each image associated with a respective estimated sensor location and comprising a point cloud having a plurality of vertices, each vertex comprising an (x,y,z)-tuple and image information for the tuple. The sequence of estimated sensor locations is sampled to provide a pose graph (P) comprising a linked sequence of nodes, each corresponding to a respective estimated sensor location. For each node of the pose graph (P), a respective cloud slice (C) comprising at least of portion of the point cloud for the sampled sensor location is acquired. A drift between an actual sensor location (Pi+1) and an estimated sensor location (Pi) on the path is determined. A corrected pose graph (P′) indicating a required transformation for each node of the pose graph (P) between the actual sensor location (Pi+1) and the start location (P0) to compensate for the determined drift is provided. The sequence of estimated sensor locations is sampled to provide a deformation graph (N) comprising a linked sequence of nodes, each correspondi…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.