Methods and apparatus for three-dimensional localization and mapping
First Claim
1. A system configured to enable three-dimensional localization and mapping;
- the system comprising;
a mobile device comprising;
an inertial measurement unit; and
a three-dimensional image capture device; and
a computing device comprising a processor programmed to;
receive a first set of inertial measurement information from the inertial measurement unit;
determine a first current position and orientation of the mobile device based on a defined position and orientation of the mobile device and the first set of inertial measurement information;
receive three-dimensional image data of the environment from the three-dimensional image capture device;
determine a second current position and orientation of the mobile device based on the received three-dimensional image data and the first current position and orientation of the mobile device; and
generate a three-dimensional representation of an environment with respect to the second current position and orientation of the mobile device.
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Accused Products
Abstract
A system configured to enable three-dimensional localization and mapping is provided. The system includes a mobile device and a computing device. The mobile device includes an inertial measurement unit and a three-dimensional image capture device. The computing device includes a processor programmed to receive a first set of inertial measurement information from the inertial measurement unit, determine a first current position and orientation of the mobile device based on a defined position and orientation of the mobile device and the first set of inertial measurement information, receive three-dimensional image data of the environment from the three-dimensional image capture device, determine a second current position and orientation of the mobile device based on the received three-dimensional image data and the first current position and orientation of the mobile device, and generate a three-dimensional representation of an environment with respect to the second current position and orientation of the mobile device.
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Citations
20 Claims
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1. A system configured to enable three-dimensional localization and mapping;
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the system comprising; a mobile device comprising; an inertial measurement unit; and a three-dimensional image capture device; and a computing device comprising a processor programmed to; receive a first set of inertial measurement information from the inertial measurement unit; determine a first current position and orientation of the mobile device based on a defined position and orientation of the mobile device and the first set of inertial measurement information; receive three-dimensional image data of the environment from the three-dimensional image capture device; determine a second current position and orientation of the mobile device based on the received three-dimensional image data and the first current position and orientation of the mobile device; and generate a three-dimensional representation of an environment with respect to the second current position and orientation of the mobile device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for enabling three-dimensional localization and mapping via a mobile device comprising an inertial measurement unit and a three-dimensional image capture device, the method comprising:
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receiving a first set of inertial measurement information from the inertial measurement unit; determining a first current position and orientation of the mobile device based on a defined position and orientation of the mobile device and the first set of inertial measurement information; receiving three-dimensional image data of the environment from the three-dimensional image capture device; determining a second current position and orientation of the mobile device based on the received three-dimensional image data and the first current position and orientation of the mobile device; and generating a three-dimensional representation of an environment with respect to the second current position and orientation of the mobile device. - View Dependent Claims (11, 12, 13, 14)
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15. One or more computer-readable media having computer-executable component, the components comprising:
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an interface component that when executed by at least one processor causes the at least one processor to receive a first set of inertial measurement information from an inertial measurement unit, and receive three-dimensional image data of an environment from a three-dimensional image capture device; a localization component that when executed by at least one processor causes the at least one processor to determine a first current position and orientation of the device in the environment based on a defined position and orientation of the device and the first set of inertial measurement information, determine a second current position and orientation of the device based on the received three-dimensional image data and the first current position and orientation of the mobile device; and a mapping component that when executed by at least one processor causes the at least one processor to generate a three-dimensional representation of the environment with respect to the second current position and orientation of the device. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification