Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system
First Claim
1. A method of localizing a mobile device in a multiple-particle autonomous localization and mapping system, the method comprising:
- performing autonomous localization and mapping with a plurality of particles, where a particle includes a device pose and a map, where the map includes one or more landmarks;
receiving an indication that a landmark has been detected; and
updating at least one particle from the plurality of particles at least partly in response to receiving the indication of the detected landmark, wherein updating further comprises;
selectively categorizing a particle as one of a first type of particle and a second type of particle; and
calculating an updated device pose estimate for a particle, wherein the technique used to calculate the updated device pose estimate is selected according to the type associated with the particle.
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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.
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Citations
50 Claims
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1. A method of localizing a mobile device in a multiple-particle autonomous localization and mapping system, the method comprising:
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performing autonomous localization and mapping with a plurality of particles, where a particle includes a device pose and a map, where the map includes one or more landmarks;
receiving an indication that a landmark has been detected; and
updating at least one particle from the plurality of particles at least partly in response to receiving the indication of the detected landmark, wherein updating further comprises;
selectively categorizing a particle as one of a first type of particle and a second type of particle; and
calculating an updated device pose estimate for a particle, wherein the technique used to calculate the updated device pose estimate is selected according to the type associated with the particle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 13, 16)
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- 11. The method as defined in 10, wherein the simulated random noise exhibits an uncertainty measure for the dead reckoning sensor data.
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14. The method as defined in 13, wherein the simulated random noise exhibits an uncertainty measure estimated for a visual sensor.
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15. The method as defined in 14, where the dead reckoning uncertainty measure corresponds to an odometer covariance matrix Codom.
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17. A circuit for a mobile device that is configured to localize the mobile device in a multiple-particle autonomous localization and mapping system, the circuit comprising:
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a means for performing autonomous localization and mapping with a plurality of particles, where a particle includes a device pose and a map, where the map includes one or more landmarks;
a means for receiving an indication that a landmark has been detected; and
a means for updating at least one particle from the plurality of particles at least partly in response to receiving the indication of the detected landmark, wherein the means for updating further comprises;
a means for selectively categorizing a particle as one of a first type of particle and a second type of particle; and
a means for calculating an updated device pose estimate for a particle, wherein the technique used to calculate the updated device pose estimate is selected according to the type associated with the particle. - View Dependent Claims (18, 19)
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20. A computer program embodied in a tangible medium for localizing a mobile device in a multiple-particle autonomous localization and mapping system, the computer program comprising:
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a module with instructions configured to perform autonomous localization and mapping with a plurality of particles, where a particle includes a device pose and a map, where the map includes one or more landmarks;
a module with instructions configured to receive an indication that a landmark has been detected; and
a module with instructions configured to update at least one particle from the plurality of particles at least partly in response to receiving the indication of the detected landmark, wherein the module with instructions configured to update further comprises;
instructions configured to selectively categorize a particle as one of a first type of particle and a second type of particle; and
instructions configured to calculate an updated device pose estimate for a particle, wherein the technique used to calculate the updated device pose estimate is selected according to the type associated with the particle. - View Dependent Claims (21, 22, 23)
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24. A circuit for localizing a mobile device in a multiple-particle autonomous localization and mapping system, the circuit comprising:
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a circuit configured to perform autonomous localization and mapping with a plurality of particles, where a particle includes a device pose and a map, where the map includes one or more landmarks;
a circuit configured to receive an indication that a landmark has been detected; and
a circuit configured to update at least one particle from the plurality of particles at least partly in response to receiving the indication of the detected landmark, wherein the circuit configured to update further comprises;
a circuit configured to selectively categorize a particle as one of a first type of particle and a second type of particle; and
a circuit configured to calculate an updated device pose estimate for a particle, wherein the technique used to calculate the updated device pose estimate is selected according to the type associated with the particle. - View Dependent Claims (25, 26, 27, 28)
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29. A method of localizing a mobile device via a multiple-particle autonomous localization and mapping system, the method comprising:
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performing autonomous localization and mapping with a plurality of particles, where a particle includes a device pose estimate and a map, where the map includes one or more landmarks;
receiving an indication that a landmark has been recognized and a visually-measured relative pose to the landmark has been estimated, where the landmark has been recognized using visual features from a visual sensor coupled to the mobile device, where the relative pose corresponds to a visually-measured difference in pose between a landmark pose and a pose corresponding to the visual observation; and
updating at least one of the plurality of particles at least partly in response to receiving the indication of the recognized landmark, wherein updating further comprises;
using a prior pose estimate and dead reckoning sensor data to compute a new pose estimate for particles in a selected group based on the estimated change in pose; and
using the landmark pose and the visually-measured relative pose estimate to compute the new pose estimate for particles not in the selected group. - View Dependent Claims (30, 31, 32, 33, 36, 39)
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34. The method as defined in 33, wherein the simulated random noise exhibits an uncertainty measure estimated for the dead reckoning sensor data.
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35. The method as defined in 33, wherein the prior landmark pose estimate corresponds to a most recent update of landmark pose.
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37. The method as defined in 36, wherein the simulated random noise exhibits an uncertainty measure estimated for a visual sensor.
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38. The method as defined in 36, where the uncertainty measure of the dead reckoning measurements corresponds to an odometer covariance matrix Codom.
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40. A computer program embodied in a tangible medium for localizing a mobile device via a multiple-particle autonomous localization and mapping system, the computer program comprising:
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a module with instructions configured to perform autonomous localization and mapping with a plurality of particles, where a particle includes a device pose estimate and a map, where the map includes one or more landmarks;
a module with instructions configured to receive an indication that a landmark has been recognized and a visually-measured relative pose to the landmark has been estimated, where the landmark has been recognized using visual features from a visual sensor coupled to the mobile device, where the relative pose corresponds to a visually-measured difference in pose between a landmark pose and a pose corresponding to the visual observation; and
a module with instructions configured to update at least one of the plurality of particles at least partly in response to receiving the indication of the recognized landmark, wherein the module with instructions configured to update further comprises;
instructions configured to use a prior pose estimate and dead reckoning sensor data to compute a new pose estimate for particles in a selected group based on the estimated change in pose; and
instructions configured to use the landmark pose and the visually-measured relative pose estimate to compute the new pose estimate for particles not in the selected group. - View Dependent Claims (41, 42, 43, 44)
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45. A circuit for localizing a mobile device in a multiple-particle autonomous localization and mapping system, the circuit comprising:
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a circuit configured to perform autonomous localization and mapping with a plurality of particles, where a particle includes a device pose estimate and a map, where the map includes one or more landmarks;
a circuit configured to receive an indication that a landmark has been recognized and a visually-measured relative pose to the landmark has been estimated, where the landmark has been recognized using visual features from a visual sensor coupled to the mobile device, where the relative pose corresponds to a visually-measured difference in pose between a landmark pose and a pose corresponding to the visual observation; and
a circuit configured to update at least one of the plurality of particles at least partly in response to receiving the indication of the recognized landmark, further comprising;
a circuit configured to use a prior pose estimate and dead reckoning sensor data to compute a new pose estimate for particles in a selected group based on the estimated change in pose; and
a circuit configured to use the landmark pose and the visually-measured relative pose estimate to compute the new pose estimate for particles not in the selected group. - View Dependent Claims (46, 47, 48, 49, 50)
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Specification