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Simultaneous localization and mapping initialization

  • US 10,242,453 B2
  • Filed: 04/30/2014
  • Issued: 03/26/2019
  • Est. Priority Date: 04/30/2014
  • Status: Active Grant
First Claim
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1. A method, comprising:

  • obtaining, by a processor of a computing device, first and second video frames;

    determining, by the processor, whether a total number of corresponding features between the first and second video frames exceeds a correspondence threshold;

    in response to a determination that the total number of corresponding features exceeds the correspondence threshold, performing, by the processor, a two-dimensional (2D) transformation, including a 2D translation, from the features in the first video frame to the features in the second video frame;

    determining, by the processor, whether a magnitude of the 2D translation exceeds a translation threshold; and

    using the first and second of video frames for initialization of a simultaneous localization and mapping (SLAM) method in response a determination that the magnitude of the 2D translation exceeds the translation threshold.

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