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Robust sensor fusion for mapping and localization in a simultaneous localization and mapping (SLAM) system

  • US 20050182518A1
  • Filed: 02/10/2005
  • Published: 08/18/2005
  • Est. Priority Date: 02/13/2004
  • Status: Active Grant
First Claim
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1. A method in a visual simultaneous localization and mapping (VSLAM) system of updating a map in a robust manner, the method comprising:

  • using visual features to recognize landmarks in an environment;

    maintaining the map of the visually-recognized landmarks, where the map comprises landmark poses associated with landmarks;

    receiving an indication that a new landmark L has been observed;

    retrieving dead reckoning measurements observed from a prior pose;

    receiving an indication of whether the dead reckoning measurements are trustworthy;

    at least partially in response to determining that the dead reckoning measurements are trustworthy, then performing;

    using the dead reckoning measurements and the prior pose to compute a landmark pose for the new landmark L;

    associating the computed landmark pose with the new landmark L; and

    storing the landmark pose and the association to the new landmark L to update the map;

    and, at least partially in response to determining that the dead reckoning measurements are not trustworthy, then not updating the map with the new landmark L.

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