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

  • US 9,110,470 B2
  • Filed: 05/06/2014
  • Issued: 08/18/2015
  • Est. Priority Date: 12/17/2002
  • Status: Expired due to Term
First Claim
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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:

  • 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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