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Localisation and mapping

  • US 10,657,663 B2
  • Filed: 06/13/2016
  • Issued: 05/19/2020
  • Est. Priority Date: 07/30/2012
  • Status: Active Grant
First Claim
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1. A method of generating a three-dimensional map of a region from successive images of the region captured from different camera poses, the map comprising a set of landmark points each defined by a three dimensional spatial position and image information associated with the three dimensional spatial position, the method comprising:

  • capturing successive images of the region using a camera;

    detecting, by a processor, feature points within the captured images;

    designating, by the processor, a subset of the captured images as a set of keyframes each having respective sets of image position data representing image positions of landmark points detected as feature points in that image;

    detecting, by the processor, an angular velocity of the camera between a previous image and a current image of the successive images using at least one of (i) one or more accelerometers, or (ii) one or more gyroscopes;

    in respect of a newly captured image, detecting, by the processor, a pose of the camera by detecting the position of landmark points in the newly captured image, the detecting step comprising;

    integrating the angular velocity of the camera since the previous image was captured to obtain an estimated rotation; and

    predicting the positions of the landmark points in the newly captured image from the estimated rotation and the position of the landmark points in the previous image.

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