Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system
First Claim
1. A method of localizing a mobile device in a multiple-particle autonomous localization and mapping system using an electronic device, the method comprising:
- performing, using an electronic device, autonomous localization and mapping with a plurality of particles, wherein a particle includes a device pose and a map, wherein the map includes at least one landmark;
calculating, using the electronic device, 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; and
using dead reckoning data to estimate a change in pose from a prior update to the particles using the electronic device;
wherein calculating the updated device pose estimate for the particle further comprises using the change in pose estimated from dead reckoning data and using a relative pose to calculate the updated device pose estimate.
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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
18 Claims
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1. A method of localizing a mobile device in a multiple-particle autonomous localization and mapping system using an electronic device, the method comprising:
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performing, using an electronic device, autonomous localization and mapping with a plurality of particles, wherein a particle includes a device pose and a map, wherein the map includes at least one landmark; calculating, using the electronic device, 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; and using dead reckoning data to estimate a change in pose from a prior update to the particles using the electronic device; wherein calculating the updated device pose estimate for the particle further comprises using the change in pose estimated from dead reckoning data and using a relative pose to calculate the updated device pose estimate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A circuit for localizing a mobile device in a multiple-particle autonomous localization and mapping system, the circuit comprising:
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a circuit configured to perform autonomous localization and mapping with a plurality of particles, wherein a particle includes a device pose and a map, wherein the map includes at least one landmark; and a circuit configured to calculate 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, wherein the circuit configured to calculate the updated device pose estimate is further configured to calculate the updated device pose for a primary particle based at least in part on data from a dead reckoning sensor and is further configured to calculate the update device pose estimate for a dual particle based at least in part on data from a visual sensor. - View Dependent Claims (11, 12, 13)
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14. A method of localizing a mobile device in a multiple-particle autonomous localization and mapping system, using an electronic device, the method comprising:
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performing, using the electronic device, autonomous localization and mapping with a plurality of particles, wherein a particle includes a device pose and a map, wherein the map includes at least one landmark; calculating, using the electronic device, 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; wherein calculating the updated device pose estimate comprises; using a prior pose estimate and dead reckoning sensor data to compute a new pose for particles of primary type based on the change in pose estimated from the dead reckoning sensor data, using the electronic device; receiving a visually-measured relative pose to the landmark, wherein the landmark has been matched using visual features from a visual sensor coupled to the mobile device, wherein the relative pose corresponds to a visually-measured difference in pose between a landmark pose and a pose corresponding to the visual observation; and using the landmark pose estimate and the visually-measured relative pose to compute the new pose estimate for particles of dual type. - View Dependent Claims (15, 16, 17, 18)
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Specification