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Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system

  • US 7,135,992 B2
  • Filed: 12/17/2003
  • Issued: 11/14/2006
  • Est. Priority Date: 12/17/2002
  • Status: Active Grant
First Claim
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1. A method of localizing a mobile device in a multiple-particle autonomous localization and mapping system, the method comprising:

  • performing autonomous localization and mapping with a plurality of particles, where a particle includes a device pose and a map, where the map includes one or more landmarks;

    receiving an indication that a landmark has been detected; and

    updating at least one particle from the plurality of particles at least partly in response to receiving the indication of the detected landmark, wherein updating further comprises;

    selectively categorizing a particle as one of a first type of particle or a second type of particle; and

    calculating an updated device pose estimate for a particle, wherein the technique used to calculate the updated device pose estimate is selected according to the type associated with the particle.

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