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, the method comprising:
- performing autonomous localization and mapping with a plurality of particles,wherein a particle includes a device pose and a map, wherein the map includes one or more landmarks; and
calculating 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 further comprises calculating the updated device pose for a primary type of particle based at least in part on data from a dead reckoning sensor, and calculating the updated device pose estimate for a dual type of particle based at least in part on data from a visual sensor.
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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
9 Claims
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1. A method of localizing a mobile device in a multiple-particle autonomous localization and mapping system, the method comprising:
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performing autonomous localization and mapping with a plurality of particles, wherein a particle includes a device pose and a map, wherein the map includes one or more landmarks; and calculating 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 further comprises calculating the updated device pose for a primary type of particle based at least in part on data from a dead reckoning sensor, and calculating the updated device pose estimate for a dual type of particle based at least in part on data from a visual sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification