SYSTEMS AND METHODS FOR ADDING LANDMARKS FOR VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING
First Claim
1. A method of adding a new landmark to a map for navigation of a mobile device, the method comprising:
- retrieving dead reckoning data from at least a time corresponding to a prior update of device pose and a time corresponding to an observation of the new landmark;
retrieving a prior device pose for the map, wherein the prior device pose corresponds to a prior update time; and
adding the new landmark to the map, wherein the pose associated with the new landmark is computed at least in part by using the retrieved dead reckoning data to calculate a change to device pose corresponding to the prior update;
wherein retrieving and adding are performed under the control of electronic hardware.
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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.
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Citations
10 Claims
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1. A method of adding a new landmark to a map for navigation of a mobile device, the method comprising:
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retrieving dead reckoning data from at least a time corresponding to a prior update of device pose and a time corresponding to an observation of the new landmark; retrieving a prior device pose for the map, wherein the prior device pose corresponds to a prior update time; and adding the new landmark to the map, wherein the pose associated with the new landmark is computed at least in part by using the retrieved dead reckoning data to calculate a change to device pose corresponding to the prior update; wherein retrieving and adding are performed under the control of electronic hardware. - View Dependent Claims (2, 3)
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4. A computer program embodied in a tangible non-transitory computer-readable medium for adding a new landmark to a map for navigation of a mobile device, the computer program comprising:
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a module with instructions configured to retrieve dead reckoning data from at least a time corresponding to a prior update of device pose and a time corresponding to an observation of the new landmark; a module with instructions configured to retrieve a prior device pose for the map, wherein the prior device pose corresponds to a prior update time; and a module with instructions configured to add the new landmark to the map, wherein the pose associated with the new landmark is computed at least in part by using the retrieved dead reckoning data to calculate a change to device pose corresponding to the prior update. - View Dependent Claims (5)
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6. A method of adding a new landmark to a plurality of maps in a multiple-particle navigation system for navigation of a mobile device, the method comprising:
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retrieving dead reckoning data from at least a time corresponding to a prior update of device pose and a time corresponding to an observation of the new landmark; retrieving prior device poses for the plurality of maps, wherein the prior device poses correspond to a prior update time; and adding the new landmark to the plurality of maps, wherein the poses associated with the new landmark are computed at least in part by using the retrieved dead reckoning data to calculate a change to device pose from the device poses corresponding to the prior update; wherein retrieving and adding are performed under the control of electronic hardware. - View Dependent Claims (7, 8)
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9. A computer program embodied in a tangible non-transitory computer-readable medium for adding a new landmark to a plurality of maps in a multiple-particle navigation system for navigation of a mobile device, the computer program comprising:
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a module with instructions configured to retrieve dead reckoning data from at least a time corresponding to a prior update of device pose and a time corresponding to an observation of the new landmark; a module with instructions configured to retrieve prior device poses for the plurality of maps, wherein the prior device poses correspond to a prior update time; and a module with instructions configured to add the new landmark to the plurality of maps, wherein the poses associated with the new landmark are computed at least in part by using the retrieved dead reckoning data to calculate a change to device pose from the device poses corresponding to the prior update. - View Dependent Claims (10)
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Specification