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SYSTEMS AND METHODS FOR INCREMENTALLY UPDATING A POSE OF A MOBILE DEVICE CALCULATED BY VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING TECHNIQUES

  • US 20060012493A1
  • Filed: 12/17/2003
  • Published: 01/19/2006
  • Est. Priority Date: 12/17/2002
  • Status: Active Grant
First Claim
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1. A method of updating a map for autonomous localization and mapping for a device, the method comprising:

  • receiving an indication that a landmark has been observed, where the landmark is associated with a landmark pose, and where the map comprises one or more landmarks;

    predicting a first device pose based on a change in pose from a prior update to device pose, wherein the change in pose is computed at least partly from dead reckoning data;

    predicting a second device pose based on a visual measurement relative to the observed landmark and based on a stored estimate of landmark pose;

    predicting a new pose for the device based on at least one of the first device pose and the second device pose; and

    using a statistical filter to update the corresponding landmark pose estimate based at least partly on the new device pose.

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