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System for building a map and subsequent localization

  • US 10,062,010 B2
  • Filed: 06/26/2015
  • Issued: 08/28/2018
  • Est. Priority Date: 06/26/2015
  • Status: Active Grant
First Claim
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1. A simultaneous localization and mapping (SLAM) system comprising:

  • a memory storing a plurality of layers of an artificial neural network trained using training data, the plurality of layers comprising a penultimate layer trained while the artificial neural network comprised the penultimate layer and a classification layer; and

    at least one processor coupled to the memory and configured to;

    receive sensor data descriptive of a plurality of spatial regions, the sensor data including image data;

    train, using the image data, a new classification layer to identify spatial regions of the plurality of spatial regions using output from the penultimate layer;

    implement a new artificial neural network using the plurality of layers and the new classification layer;

    provide new sensor data descriptive of a spatial region of the plurality of spatial regions to the new artificial neural network;

    receive, from the new artificial neural network, information identifying the spatial region of the plurality of spatial regions;

    identify one or more keyframes associated with the spatial region; and

    identify at least one camera pose using the one or more keyframes associated with the spatial region.

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