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Navigation using sensor fusion

  • US 10,330,489 B1
  • Filed: 05/03/2017
  • Issued: 06/25/2019
  • Est. Priority Date: 03/14/2014
  • Status: Active Grant
First Claim
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1. An apparatus, comprising:

  • two or more sensors comprising a camera and another sensor;

    a data processing apparatus; and

    a non-transitory computer readable storage medium in data communication with the data processing apparatus and storing instructions executable by the data processing apparatus and upon such execution cause the data processing apparatus to perform operations comprising;

    receiving data from the two or more sensors;

    synchronizing the received data from the two or more sensors so that the data from the camera corresponds in time to the data from the other sensor;

    determining a first subset of the synchronized data from the camera for a period of time and a second subset of the synchronized data from the other sensor for the period of time, the first subset of the synchronized data and the second subset of the synchronized data each being representative of movement of the apparatus and the first subset of the synchronized data being representative of objects in a physical area surrounding a physical location of the apparatus;

    determining a plurality of feature points of the physical area using at least the first subset of the synchronized data and the second subset of the synchronized data;

    determining, using at least the first subset of the synchronized data, that at least one of the plurality of feature points represents a moving object; and

    creating a map using one or more of the plurality of feature points, the one or more of the plurality of feature points not including the at least one of the plurality of feature points that represents the moving object.

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