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SYSTEMS AND METHODS FOR CONTROLLING A DENSITY OF VISUAL LANDMARKS IN A VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING SYSTEM

  • US 20070262884A1
  • Filed: 11/22/2006
  • Published: 11/15/2007
  • Est. Priority Date: 12/17/2002
  • Status: Active Grant
First Claim
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1. A method for managing content of a landmark database in a Visual Simultaneous Localization and Mapping System (VSLAM) for a mobile device, the method comprising:

  • retrieving an estimate of device pose for the mobile device;

    determining which landmarks in a map are expected to be observed by the mobile device at least partly based on the estimate of device pose;

    tracking over time whether the landmarks that are expected to be observed are observed; and

    removing a landmark from the map when the landmark is repeatedly not observed where the landmark was expected to be observed.

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