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

  • US 9,483,054 B2
  • Filed: 07/10/2015
  • Issued: 11/01/2016
  • Est. Priority Date: 12/17/2002
  • Status: Expired due to Term
First Claim
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1. A method for localizing a mobile device in a visual simultaneous localization and mapping system, the method comprising:

  • visually observing an environment via a camera of the mobile device;

    maintaining a map of landmarks in a data store on the mobile device based at least in part on visual observations of the environment obtained from the camera of the mobile device using a processing system on the mobile device;

    receiving an indication that a landmark has been recognized and estimating a visually-measured relative pose to the landmark, wherein the relative pose reveals a change in pose from (i) the pose when the landmark was created and stored in the data store to (ii) the pose when the physical landmark was re-observed;

    receiving data from at least one dead reckoning sensor of the mobile device at the processing system on the mobile device and storing the data, wherein the data from the dead reckoning sensor relates to movement of the mobile device within the environment;

    using data from the dead reckoning sensor to estimate a change in pose;

    determining a current device pose estimate based upon the relative pose and the data from the dead reckoning sensor, wherein visual observations of landmarks obtained from the camera sensor compensates for drift in the dead reckoning sensors,wherein determining a current device pose further comprises using the change in pose estimated from the data from the dead reckoning sensor and using a relative pose to calculate the current device pose estimate.

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