SYSTEMS AND METHODS FOR FILTERING POTENTIALLY UNRELIABLE VISUAL DATA FOR VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING
First Claim
1. A computer program embodied in a tangible non-transitory computer-readable medium for identifying a potentially unreliable visual measurement for navigation, the computer program comprising:
- 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, wherein 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.
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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
9 Claims
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1. A computer program embodied in a tangible non-transitory computer-readable 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, wherein 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 (2, 3, 4, 5, 6, 7, 8, 9)
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Specification