Pose Estimation
First Claim
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1. A method comprising:
- a computer system periodically calculating a plurality of estimates corresponding to a pose of a platform, wherein the periodically calculating includes;
for each of a plurality of types of sensor data, independently calculating at least one of a plurality of preliminary estimates based on the sensor data corresponding to the type of sensor data; and
generating the plurality of estimates using the plurality of preliminary estimates and at least one covariance matrix, wherein the at least one covariance matrix is adjusted based an uncertainty for at least one of the preliminary estimates that varies based on at least one of;
time, distance, or velocity of the platform.
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Abstract
A solution for estimating the pose of a platform, such as a vehicle, is provided. Data from a plurality of types of sensing devices located on the platform can be used to independently calculate a plurality of preliminary estimates corresponding to the pose. A plurality of estimates corresponding to the pose can be generated using the preliminary estimates and at least one covariance matrix. One or more entries in the covariance matrix are adjusted based on an uncertainty for the corresponding preliminary estimate. The uncertainty can vary based on time, distance, and/or velocity of the platform.
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Citations
20 Claims
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1. A method comprising:
a computer system periodically calculating a plurality of estimates corresponding to a pose of a platform, wherein the periodically calculating includes; for each of a plurality of types of sensor data, independently calculating at least one of a plurality of preliminary estimates based on the sensor data corresponding to the type of sensor data; and generating the plurality of estimates using the plurality of preliminary estimates and at least one covariance matrix, wherein the at least one covariance matrix is adjusted based an uncertainty for at least one of the preliminary estimates that varies based on at least one of;
time, distance, or velocity of the platform.- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computer system comprising:
a set of computing devices configured to perform a method comprising periodically calculating a plurality of estimates corresponding to a pose of a platform, wherein the periodically calculating includes; for each of a plurality of types of sensor data, independently calculating at least one of a plurality of preliminary estimates based on the sensor data corresponding to the type of sensor data; and generating the plurality of estimates using the plurality of preliminary estimates and at least one covariance matrix, wherein the at least one covariance matrix is adjusted based an uncertainty for at least one of the preliminary estimates that varies based on at least one of;
time, distance, or velocity of the platform.- View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A vehicle comprising:
a navigation system including a set of computing devices configured to perform a method comprising; periodically calculating a plurality of estimates corresponding to a pose of the vehicle, wherein the periodically calculating includes; for each of a plurality of types of sensor data, independently calculating at least one of a plurality of preliminary estimates based on the sensor data corresponding to the type of sensor data; and generating the plurality of estimates using the plurality of preliminary estimates and at least one covariance matrix, wherein the at least one covariance matrix is adjusted based an uncertainty for at least one of the preliminary estimates that varies based on at least one of;
time, distance, or velocity of the vehicle; andmanaging navigation of the vehicle using the plurality of estimates corresponding to the pose. - View Dependent Claims (19, 20)
Specification