Odometry Feature Matching
First Claim
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.
2 Assignments
0 Petitions
Accused Products
Abstract
Methods and systems for determining features of interest for following within various frames of data received from multiple sensors of a device are disclosed. An example method may include receiving data from a plurality of sensors of a device. The method may also include determining, based on the data, motion data that is indicative of a movement of the device in an environment. The method may also include as the device moves in the environment, receiving image data from a camera of the device. The method may additionally include selecting, based at least in part on the motion data, features in the image data for feature-following. The method may further include 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 feature-following of the selected features in the images.
-
Citations
20 Claims
-
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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A non-transitory computer readable memory configured to store instructions that, when executed by a device, cause the device to perform functions comprising:
-
receiving, at the device, data from a plurality of sensors of the 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. - View Dependent Claims (13, 14, 15, 16, 17)
-
-
18. A device comprising:
-
one or more processors; and data storage configured to store instructions that, when executed by the one or more processors, cause the device to perform functions comprising; receiving data from a plurality of sensors of the 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. - View Dependent Claims (19, 20)
-
Specification