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Systems and methods for computing a relative pose for global localization in a visual simultaneous localization and mapping system

  • US 7,162,338 B2
  • Filed: 12/17/2003
  • Issued: 01/09/2007
  • Est. Priority Date: 12/17/2002
  • Status: Active Grant
First Claim
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1. A method of computing a relative pose for autonomous localization for a mobile device, the method comprising:

  • identifying one visual landmark of a plurality of stored visual landmarks that matches an image provided by a visual sensor coupled to the mobile device;

    identifying corresponding features shown in both the image and the matching visual landmark;

    determining 2-dimensional coordinates within the image for the corresponding features of the image;

    retrieving 3-dimensional data consisting essentially of 3-dimensional coordinates of a plurality of the corresponding features of the matching visual landmark;

    computing a hypothetical device pose by;

    projecting the 3-dimensional coordinates of the corresponding features of the matching visual landmark onto new 2-dimensional coordinates of a hypothetical image, where the hypothetical image corresponds to an image that would be observed by the visual sensor if the device were to be re-posed according to the hypothetical device pose;

    generating a projection error by comparing the new 2-dimensional coordinates to the 2-dimensional coordinates for the corresponding features of the image; and

    solving for the hypothetical device pose that corresponds to a low projection error; and

    using the hypothetical device pose as the computed relative device pose.

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