System and method for hybrid simultaneous localization and mapping of 2D and 3D data acquired by sensors from a 3D scene
US9807365B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 8, 2015 |
| Grant date | Oct 31, 2017 |
| Priority date | — |
| Expiry date | Dec 8, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10028
- WIPO fieldAudio-visual technology
- WIPO sectorElectrical engineering
Abstract
A method and system for registering data by first acquiring the data from a scene by a sensor at different viewpoints, and extracting, from the data, three-dimensional (3D) points and 3D lines, and descriptors associated with the 3D points and the 3D lines. A first set of primitives represented in a first coordinate system of the sensor is selected, wherein the first set of primitives includes at least three 3D points. A second set of primitives represented in a second coordinate system is selected, wherein the second set of primitives includes any combination of 3D points and 3D lines to obtain at least three primitives. Then, using the first set of primitives and the second set of primitives, the 3D points are registered with each other, and the 3D points with the 3D lines to obtain registered primitives, wherein the registered primitives are used in a simultaneous localization and mapping (SLAM) system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.