LOCALISING PORTABLE APPARATUS
First Claim
1. A method of localising portable apparatus in an environment, the method comprising:
- obtaining a stored experience data set comprising a set of connected nodes, each said node comprising a representation of a location within the environment;
obtaining captured location representation data provided by at least one sensor associated with the portable apparatus;
obtaining a current pose estimate of the portable apparatus within the environment;
using the current pose estimate to select a candidate set of the nodes from the stored experience data set that contain a potential match for the captured location representation data;
using the current pose estimate to obtain a set of paths from path memory data, each said path comprising a set of said nodes previously traversed in the environment under similar environmental/visual conditions;
using the set of paths to refine the candidate set of nodes; and
comparing the captured location representation data and the refined candidate set of nodes in order to identify a current pose of the portable apparatus within the environment.
1 Assignment
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Accused Products
Abstract
A method of localising portable apparatus (200) obtains: a stored experience data set comprising a set of connected nodes; captured location representation data provided by at least one sensor associated with the portable apparatus, and a current pose estimate of the portable apparatus within the environment. The pose estimate is used to select a candidate set of the nodes that contain a potential match for the captured location representation data. The pose estimate is used to obtain a set of paths from path memory data, each said path comprising a set of said nodes previously traversed in the environment under similar environmental/visual conditions. The set of paths is used to refine the candidate set. The captured location representation data and the refined candidate set of nodes is compared in order to identify a current pose of the portable apparatus within the environment.
6 Citations
20 Claims
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1. A method of localising portable apparatus in an environment, the method comprising:
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obtaining a stored experience data set comprising a set of connected nodes, each said node comprising a representation of a location within the environment; obtaining captured location representation data provided by at least one sensor associated with the portable apparatus; obtaining a current pose estimate of the portable apparatus within the environment; using the current pose estimate to select a candidate set of the nodes from the stored experience data set that contain a potential match for the captured location representation data; using the current pose estimate to obtain a set of paths from path memory data, each said path comprising a set of said nodes previously traversed in the environment under similar environmental/visual conditions; using the set of paths to refine the candidate set of nodes; and comparing the captured location representation data and the refined candidate set of nodes in order to identify a current pose of the portable apparatus within the environment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A device adapted to localise portable apparatus in an environment, the device comprising:
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a component configured to obtain a stored experience data set comprising a set of connected nodes, each said node comprising a representation of a location within the environment; a component configured to obtain captured location representation data provided by at least one sensor associated with the portable apparatus; a component configured to obtain a current pose estimate of the portable apparatus within the environment; a component configured to use the current pose estimate to select a candidate set of the nodes from the stored experience data set that contain a potential match for the captured location representation data; a component configured to use the current pose estimate to obtain a set of paths from path memory data, each said path comprising a set of said nodes previously traversed in the environment under similar environmental/visual conditions; a component configured to use the set of paths to refine the candidate set of nodes; and a component configured to compare the captured location representation data and the refined candidate set of nodes in order to identify a current pose of the portable apparatus within the environment. - View Dependent Claims (13, 14)
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15. One or more non-transitory computer readable mediums storing a computer program that when executed by one or more processors cause a process to the carried out for localising portable apparatus in an environment, the process comprising:
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obtaining a stored experience data set comprising a set of connected nodes, each said node comprising a representation of a location within the environment obtaining captured location representation data provided by at least one sensor associated with the portable apparatus; obtaining a current pose estimate of the portable apparatus within the environment using the current pose estimate to select a candidate set of the nodes from the stored experience data set that contain a potential match for the captured location representation data; using the current pose estimate to obtain a set of paths from path memory data, each said path comprising a set of said nodes previously traversed in the environment under similar environmental/visual conditions; using the set of paths to refine the candidate set of nodes; and comparing the captured location representation data and the refined candidate set of nodes in order to identify a current pose of the portable apparatus within the environment. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification