Systems and methods for filtering potentially unreliable visual data for visual simultaneous localization and mapping
First Claim
1. A method of identifying a potentially unreliable visual measurement for navigation, the method comprising:
- determining that one or more features in an image match with one or more features from at least one previously identified landmark, where the determination of the matching one or more features is performed by a visually-based automated process;
analyzing one or more quality metrics associated with the match between the one or more features of the image and the at least one previously identified landmark; and
automatically determining that the visual measurement is potentially unreliable at least partly based on the analysis of the one or more quality metrics.
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Accused Products
Abstract
The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
321 Citations
39 Claims
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1. A method of identifying a potentially unreliable visual measurement for navigation, the method comprising:
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determining that one or more features in an image match with one or more features from at least one previously identified landmark, where the determination of the matching one or more features is performed by a visually-based automated process;
analyzing one or more quality metrics associated with the match between the one or more features of the image and the at least one previously identified landmark; and
automatically determining that the visual measurement is potentially unreliable at least partly based on the analysis of the one or more quality metrics. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A circuit for identifying a potentially unreliable visual measurement for navigation, the circuit comprising:
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a circuit configured to determine that one or more features in an image match with one or more features from at least one previously identified landmark, where the determination of the matching one or more features is performed by a visually-based automated process;
a circuit configured to analyze one or more quality metrics associated with the match between the one or more features of the image and the at least one previously identified landmark; and
a circuit configured to automatically determine that the visual measurement is potentially unreliable at least partly based on the analysis of the one or more quality metrics. - View Dependent Claims (11, 12)
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13. A computer program embodied in a tangible medium for identifying a potentially unreliable visual measurement for navigation, the computer program comprising:
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a module with instructions configured to determine that one or more features in an image match with one or more features from at least one previously identified landmark, where the determination of the matching one or more features is performed by a visually-based automated process;
a module with instructions configured to analyze one or more quality metrics associated with the match between the one or more features of the image and the at least one previously identified landmark; and
a module with instructions configured to automatically determine that the visual measurement is potentially unreliable at least partly based on the analysis of the one or more quality metrics. - View Dependent Claims (14, 15)
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16. A method of filtering potentially unreliable measurements from use in navigation, the method comprising:
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receiving an indication that a landmark matches with features observed in an image, where the image is provided by a visual sensor;
computing a measure of a quality of a measurement;
comparing the measure of the quality of the measurement to at least one predetermined criterion to determine at least one of two states, where a first state that indicates a higher quality measurement than a second state;
avoiding use of the measurement for navigation at least partly in response to a determination of the second state indicating the lower quality match; and
using the measurement for navigation at least partly in response to a determination of the first state indicating the higher quality match. - View Dependent Claims (17, 18, 19, 20)
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21. A circuit for filtering potentially unreliable measurements from use in navigation, the method comprising:
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a circuit configured to receive an indication that a landmark matches with features observed in an image, where the image is provided by a visual sensor;
a circuit configured to compute a measure of a quality of a measurement;
a circuit configured to compare the measure of the quality of the measurement to at least one predetermined criterion to determine at least one of two states, where a first state that indicates a higher quality measurement than a second state;
a circuit configured to avoid use of the measurement for navigation at least partly in response to a determination of the second state indicating the lower quality match; and
a circuit configured to use the measurement for navigation at least partly in response to a determination of the first state indicating the higher quality match. - View Dependent Claims (22, 23, 24, 25)
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26. A computer program embodied in a tangible medium for filtering potentially unreliable measurements from use in navigation, the computer program comprising:
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a module with instructions configured to receive an indication that a landmark matches with features observed in an image, where the image is provided by a visual sensor;
a module with instructions configured to compute a measure of a quality of a measurement;
a module with instructions configured to compare the measure of the quality of the measurement to at least one predetermined criterion to determine at least one of two states, where a first state that indicates a higher quality measurement than a second state;
a module with instructions configured to avoid use of the measurement for navigation at least partly in response to a determination of the second state indicating the lower quality match; and
a module with instructions configured to use the measurement for navigation at least partly in response to a determination of the first state indicating the higher quality match. - View Dependent Claims (27, 28, 29)
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30. A circuit for filtering potentially unreliable measurements from use in navigation, the circuit comprising:
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a means for receiving an indication that a landmark matches with features observed in an image, where the image is provided by a visual sensor;
a means for computing a measure of a quality of a measurement;
a means for comparing the measure of the quality of the measurement to at least one predetermined criterion to determine at least one of two states, where a first state that indicates a higher quality measurement than a second state;
a means for avoiding use of the measurement for navigation at least partly in response to a determination of the second state indicating the lower quality match; and
a means for using the measurement for navigation at least partly in response to a determination of the first state indicating the higher quality match. - View Dependent Claims (31)
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32. A method of filtering potentially unreliable measurements from use in navigation, the method comprising:
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receiving a list of one or more landmarks that have been preliminarily identified as matching with features observed in an image, where the image is provided by a visual sensor coupled to a mobile device for which the navigation applies;
computing a measure of a quality of a measurement corresponding to each landmark in the list;
comparing the measure of the quality of each of the measurements to at least one predetermined criterion to determine at least one of two states, where a first state indicates a higher-quality measurement and a second state indicates a lower-quality measurement;
generating a modified list by selectively removing a measurement from the list of the one or more measurements at least partly in response to a determination that the measure of the quality of the measurement associated with the landmark corresponds to the second state indicating the lower-quality measurement; and
providing the modified list for use in navigation. - View Dependent Claims (33, 34, 35, 36, 37, 38)
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39. A computer program embodied in a tangible medium for filtering potentially unreliable measurements from use in navigation, the computer program comprising:
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a module with instructions configured to receive a list of one or more landmarks that have been preliminarily identified as matching with features observed in an image, where the image is provided by a visual sensor coupled to a mobile device for which the navigation applies;
a module with instructions configured to compute a measure of a quality of a measurement corresponding to each landmark in the list;
a module with instructions configured to compare the measure of the quality of each of the measurements to at least one predetermined criterion to determine at least one of two states, where a first state indicates a higher-quality measurement and a second state indicates a lower-quality measurement;
a module with instructions configured to generate a modified list by selectively removing a measurement from the list of the one or more measurements at least partly in response to a determination that the measure of the quality of the measurement associated with the landmark corresponds to the second state indicating the lower-quality measurement; and
a module with instructions configured to provide the modified list for use in navigation.
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Specification