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

  • US 9,886,037 B2
  • Filed: 10/28/2016
  • Issued: 02/06/2018
  • 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, 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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