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Odometry Feature Matching

  • US 20150235099A1
  • Filed: 02/20/2014
  • Published: 08/20/2015
  • Est. Priority Date: 02/20/2014
  • Status: Active Grant
First Claim
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1. A method comprising:

  • receiving, using a processor, data from a plurality of sensors of a device;

    determining, based on the data, motion data that is indicative of a movement of the device in an environment;

    as the device moves in the environment, receiving image data from a camera of the device;

    selecting, based at least in part on the motion data, features in the image data for feature-following; and

    estimating one or more of a position of the device or a velocity of the device in the environment as supported by the data from the plurality of sensors and by feature-following of the selected features in the images.

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