Systems and methods for controlling a density of visual landmarks in a visual simultaneous localization and mapping system
First Claim
1. A method for managing content of a landmark database in a Visual Simultaneous Localization and Mapping System (VSLAM) for a mobile device, the method comprising:
- visually obtaining a measurement of a landmark;
analyzing a quality of the measurement, where the quality of the measurement provides an indication of whether the measurement is an outlier;
storing an indication when the measurement has been identified as an outlier; and
removing a landmark from the map when the measurements of the landmark are repeatedly identified as outliers.
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Abstract
The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
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Citations
12 Claims
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1. A method for managing content of a landmark database in a Visual Simultaneous Localization and Mapping System (VSLAM) for a mobile device, the method comprising:
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visually obtaining a measurement of a landmark; analyzing a quality of the measurement, where the quality of the measurement provides an indication of whether the measurement is an outlier; storing an indication when the measurement has been identified as an outlier; and removing a landmark from the map when the measurements of the landmark are repeatedly identified as outliers. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A computer program embodied in a tangible medium for managing content of a landmark database in Visual Simultaneous Localization and Mapping System (VSLAM) for a mobile device, the computer program comprising:
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a module with instructions configured to visually obtain a measurement of a landmark; a module with instructions configured to analyze a quality of the measurement, where the quality of the measurement provides an indication of whether the measurement is an outlier; a module with instructions configured to store an indication when the measurement has been identified as an outlier; and a module with instructions configured to remove a landmark from the map when the measurements of the landmark are repeatedly identified as outliers. - View Dependent Claims (11, 12)
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Specification