ONLINE ENVIRONMENT MAPPING
First Claim
1. A computer implemented method for generating an environment map of an input video sequence, the method comprising:
- receiving the input video sequence from a camera system, the video sequence having a plurality of video frames;
extracting one or more video features from a plurality of video frames of the video sequence;
tracking the video features in two or more video frames of the video sequence;
identifying a plurality of keyframes and adding the identified keyframes into an initial environment map, wherein the keyframes are identified based on the video features of the video frames, and the initial environment map is represented by a keyframe pose graph;
enforcing local metric properties of a group of selected keyframes of the initial environment map;
optimizing the initial environment map based on global metric properties of the keyframes; and
generating an output environment map based on the optimization.
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Accused Products
Abstract
A system and method are disclosed for online mapping of large-scale environments using a hybrid representation of a metric Euclidean environment map and a topological map. The system includes a scene module, a location recognition module, a local adjustment module and a global adjustment module. The scene flow module is for detecting and tracking video features of the frames of an input video sequence. The scene flow module is also configured to identify multiple keyframes of the input video sequence and add the identified keyframes into an initial environment map of the input video sequence. The location recognition module is for detecting loop closures in the environment map. The local adjustment module enforces local metric properties of the keyframes in the environment map, and the global adjustment module is for optimizing the entire environment map subject to global metric properties of the keyframes in the keyframe pose graph.
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Citations
20 Claims
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1. A computer implemented method for generating an environment map of an input video sequence, the method comprising:
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receiving the input video sequence from a camera system, the video sequence having a plurality of video frames; extracting one or more video features from a plurality of video frames of the video sequence; tracking the video features in two or more video frames of the video sequence; identifying a plurality of keyframes and adding the identified keyframes into an initial environment map, wherein the keyframes are identified based on the video features of the video frames, and the initial environment map is represented by a keyframe pose graph; enforcing local metric properties of a group of selected keyframes of the initial environment map; optimizing the initial environment map based on global metric properties of the keyframes; and generating an output environment map based on the optimization. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer-readable storage medium storing executable computer program code for generating an environment map of an input video sequence, the computer program code comprising instructions for:
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receiving the input video sequence from a camera system, the video sequence having a plurality of video frames; extracting one or more video features from a plurality of video frames of the video sequence; tracking the video features in two or more video frames of the video sequence; identifying a plurality of keyframes and adding the identified keyframes into an initial environment map, wherein the keyframes are identified based on the video features of the video frames, and the initial environment map is represented by a keyframe pose graph; enforcing local metric properties of a group of selected keyframes of the initial environment map; optimizing the initial environment map based on global metric properties of the keyframes; and generating an output environment map based on the optimization. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A computer system for generating an environment map of an input video sequence, the system comprising:
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a scene flow module for; receiving the input video sequence from a camera system, the video sequence having a plurality of video frames; extracting one or more video features from a plurality of video frames of the video sequence; tracking the video features in two or more video frames of the video sequence; a location recognition module for identifying a plurality of keyframes and adding the identified keyframes into an initial environment map, wherein the keyframes are identified based on the video features of the video frames, and the initial environment map is represented by a keyframe pose graph; a local adjustment module for enforcing local metric properties of a group of selected keyframes of the initial environment map; and a global adjustment module for; optimizing the initial environment map based on global metric properties of the keyframes; and generating an output environment map based on the optimization. - View Dependent Claims (20)
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Specification