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

  • US 8,508,388 B2
  • Filed: 09/13/2012
  • Issued: 08/13/2013
  • Est. Priority Date: 12/17/2002
  • Status: Expired due to Term
First Claim
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1. A method of autonomous localization and mapping, the method comprising:

  • visually observing an environment via a visual sensor;

    maintaining a map of landmarks in a data store, where the map of landmarks is based at least in part on visual observations of the environment;

    receiving data from a dead reckoning sensor, where data from the dead reckoning sensor relates to movement of the visual sensor within the environment;

    using data from the dead reckoning sensor and a prior pose estimate to predict a new device pose in a global reference frame at least partly in response to a determination that a known landmark has not been encountered; and

    using data from the visual sensor to predict a new device pose in the global reference frame at least partly in response to a determination that a known landmark has been recognized, where the new device pose estimate is based at least in part on a previous pose estimate associated with the known landmark and using the visual sensor data to update the map;

    wherein the data from the visual sensor comprises 2D image coordinates of features associated with the recognized landmark.

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