Managing feature data for environment mapping on an electronic device
First Claim
Patent Images
1. A method comprising:
- generating, at an electronic device, localization data for the electronic device based on imagery captured at the electronic device and based on received non-visual pose information obtained from non-visual sensors;
identifying a plurality of features of an environment of the electronic device based on the captured imagery, at least one image of the captured imagery comprising multiple features of the plurality of features, each feature of the plurality of features having a quality value corresponding to the feature, and wherein the multiple features of the at least one image have different quality values;
identifying a quality value threshold (QVT) for the localization data, wherein the QVT is a value derived from one of an average of quality values, a median of quality values, and a value based on a number of quality values that exceed the QVT;
reducing the localization data based on characteristics of the plurality of features and the corresponding quality value by removing data associated with features in the plurality of features having the quality value below the QVT; and
mapping the environment of the electronic device based on the reduced localization data.
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Abstract
An electronic device reduces localization data based on feature characteristics identified from the data. Based on the feature characteristics, a quality value can be assigned to each identified feature, indicating the likelihood that the data associated with the feature will be useful in mapping a local environment of the electronic device. The localization data is reduced by removing data associated with features have a low quality value, and the reduced localization data is used to map the local environment of the device by locating features identified from the reduced localization data in a frame of reference for the electronic device.
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Citations
20 Claims
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1. A method comprising:
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generating, at an electronic device, localization data for the electronic device based on imagery captured at the electronic device and based on received non-visual pose information obtained from non-visual sensors; identifying a plurality of features of an environment of the electronic device based on the captured imagery, at least one image of the captured imagery comprising multiple features of the plurality of features, each feature of the plurality of features having a quality value corresponding to the feature, and wherein the multiple features of the at least one image have different quality values; identifying a quality value threshold (QVT) for the localization data, wherein the QVT is a value derived from one of an average of quality values, a median of quality values, and a value based on a number of quality values that exceed the QVT; reducing the localization data based on characteristics of the plurality of features and the corresponding quality value by removing data associated with features in the plurality of features having the quality value below the QVT; and mapping the environment of the electronic device based on the reduced localization data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method, comprising,
generating quality values for a plurality of features identified from imagery, at least one image of the imagery comprising multiple features of the plurality of features, and wherein the multiple features of the at least one image have different quality values; -
reducing, at an electronic device, localization data of the electronic device based on the generated quality values, wherein the quality values are based on one or more of a consistency of position of a feature across images, a number of observations of a feature across images, and a distance of a feature from the electronic device upon capture of associated images; and mapping a local environment of the electronic device based on the reduced localization data. - View Dependent Claims (10, 11, 12)
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13. An electronic device comprising:
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an imaging sensor to capture imagery; a plurality of non-visual sensors; a processor comprising; a feature identification module configured to; generate, at an electronic device, localization data for the electronic device based on based on imagery captured at the electronic device and based on received non-visual pose information obtained from non-visual sensors; and identify characteristics of a plurality of features of an environment of the electronic device based on the captured imagery, at least one image of the captured imagery comprising multiple features of the plurality of features, and wherein the multiple features of the at least one image have different quality values; a data reducer configured to identify a quality value threshold (QVT) and reduce the localization data based on removing features of the plurality of features with quality values lower that the QVT, wherein the QVT is a value derived from one of an average of the quality values, a median of the quality values, and a value based on a number of quality values that exceed the QVT; and an environment mapper configured to generate a map of the environment of the electronic device based on the reduced localization data. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification