WIDE AREA LOCALIZATION FROM SLAM MAPS
First Claim
1. A method of performing wide area localization at a mobile device, comprising:
- receiving, one or more images of a local environment of the mobile device;
initializing, a keyframe based simultaneous localization and mapping (SLAM) map of the local environment with the one or more images, wherein the initializing comprises selecting a first keyframe from one of the images;
determining, a respective localization of the mobile device within the local environment, wherein the respective localization is based on the keyframe based SLAM map;
sending, the first keyframe to a server; and
receiving, a first global localization response from the server.
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Abstract
Exemplary methods, apparatuses, and systems for performing wide area localization from simultaneous localization and mapping (SLAM) maps are disclosed. A mobile device can select a first keyframe based SLAM map of the local environment with one or more received images. A respective localization of the mobile device within the local environment can be determined, and the respective localization may be based on the keyframe based SLAM map. The mobile device can send the first keyframe to a server and receive a first global localization response representing a correction to a local map on the mobile device. The first global localization response can include rotation, translation, and scale information. A server can receive keyframes from a mobile device, and localize the keyframes within a server map by matching keyframe features received from the mobile device to server map features.
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Citations
28 Claims
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1. A method of performing wide area localization at a mobile device, comprising:
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receiving, one or more images of a local environment of the mobile device; initializing, a keyframe based simultaneous localization and mapping (SLAM) map of the local environment with the one or more images, wherein the initializing comprises selecting a first keyframe from one of the images; determining, a respective localization of the mobile device within the local environment, wherein the respective localization is based on the keyframe based SLAM map; sending, the first keyframe to a server; and receiving, a first global localization response from the server. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A non-transitory storage medium having stored thereon instructions that, in response to being executed by a processor in a mobile device device, perform a method comprising:
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receiving, one or more images of a local environment of the mobile device; initializing, a keyframe based simultaneous localization and mapping (SLAM) map of the local environment with the one or more images, wherein the initializing comprises selecting a first keyframe from one of the images; determining, a respective localization of the mobile device within the local environment, wherein the respective localization is based on the keyframe based SLAM map; sending, the first keyframe to a server; and receiving, a first global localization response from the server. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A mobile device for performing wide area localization comprising:
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means for receiving, one or more images of a local environment of the mobile device; means for initializing, a keyframe based simultaneous localization and mapping (SLAM) map of the local environment with the one or more images, wherein the initializing comprises selecting a first keyframe from one of the images; means for determining, a respective localization of the mobile device within the local environment, wherein the respective localization is based on the keyframe based SLAM map; means for sending, the first keyframe to a server; and means for receiving, a first global localization response from the server. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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22. A mobile device comprising:
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a processor; a storage device coupled to the processor and configurable for storing instructions, which, when executed by the processor cause the processor to; receive, at an image capture device coupled to the mobile device, one or more images of a local environment of the mobile device; initialize, a keyframe based simultaneous localization and mapping (SLAM) map of the local environment with the one or more images, wherein the initializing comprises selecting a first keyframe from one of the images; determine, a respective localization of the mobile device within the local environment, wherein the respective localization is based on the keyframe based SLAM map; send, the first keyframe to a server; and receive, a first global localization response from the server. - View Dependent Claims (23, 24, 25, 26, 27, 28)
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Specification