METHOD FOR PROCESSING FEATURE MEASUREMENTS IN VISION-AIDED INERTIAL NAVIGATION
First Claim
Patent Images
1. A mobile platform comprising:
- a) a camera for outputting image data of features with unknown locations the features being objects, structures, and points, lines, and planes of objects and/or structures;
b) an inertial measurement unit for outputting inertial measurements of the features, wherein the coordinates of the features are unknown;
c) a processor configured to receive the image data and inertial measurements;
d) storage for storing the image data and the inertial measurements; and
e) an extended-Kalman filter-based estimator executable on the processor for processing the inertial measurement and features of the image data, wherein a state vector of the estimator contains a sliding window of states for determining the position and orientation of the mobile platform.
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Abstract
A mobile platform having a camera for outputting image data of features with unknown locations, an inertial measurement unit for outputting inertial measurements of the features, where the coordinates of the features are unknown, a processor, storage and an extended-Kalman filter-based estimator executable on the processor for processing the inertial measurement and features of the image data, where a state vector of the estimator contains a sliding window of states for determining the position and orientation of the mobile platform.
24 Citations
20 Claims
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1. A mobile platform comprising:
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a) a camera for outputting image data of features with unknown locations the features being objects, structures, and points, lines, and planes of objects and/or structures; b) an inertial measurement unit for outputting inertial measurements of the features, wherein the coordinates of the features are unknown; c) a processor configured to receive the image data and inertial measurements; d) storage for storing the image data and the inertial measurements; and e) an extended-Kalman filter-based estimator executable on the processor for processing the inertial measurement and features of the image data, wherein a state vector of the estimator contains a sliding window of states for determining the position and orientation of the mobile platform. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification