Gyroscope assisted scalable visual simultaneous localization and mapping
US9846042B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 13, 2015 |
| Grant date | Dec 19, 2017 |
| Priority date | — |
| Expiry date | Nov 13, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
An indoor localization system uses Visual Simultaneous Localization and Mapping (VSLAM) aided by gyroscope sensor information. Indoor environments pose several challenges which could cause a vision only system to fail due to tracking errors. Investigation revealed significant feature loss in a vision only system when traversing plain walls, windows and staircases. However, the addition of a gyroscope helps in handling such difficult conditions by providing additional rotational information. A portable system consisting of an Inertial Measurement Unit (IMU) and a stereo camera has been developed for indoor mapping. The images and gyroscope rates acquired by the system are stored and post-processed using Gyroscope Assisted Scalable Visual Simultaneous Localization and Mapping Algorithm.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.