SYSTEMS AND METHODS FOR USING MULTIPLE HYPOTHESES IN A VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING SYSTEM
First Claim
1. A method for efficiently managing content of a landmark database in an autonomous localization and mapping system, the method comprising:
- determining a density of landmarks in one or more maps; and
discontinuing the adding of new landmarks to the one or more maps at least partially in response to a determination that the density of landmarks is higher than a threshold;
wherein determining and discontinuing are performed under the control of electronic hardware.
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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.
144 Citations
16 Claims
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1. A method for efficiently managing content of a landmark database in an autonomous localization and mapping system, the method comprising:
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determining a density of landmarks in one or more maps; and discontinuing the adding of new landmarks to the one or more maps at least partially in response to a determination that the density of landmarks is higher than a threshold; wherein determining and discontinuing are performed under the control of electronic hardware. - View Dependent Claims (2, 3, 4, 5)
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6. A circuit for managing content of a landmark database in an autonomous localization and mapping system, the circuit comprising:
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a means for determining a density of landmarks in one or more maps; and a means for discontinuing the adding of new landmarks to the one or more maps at least partially in response to a determination that the density of landmarks is higher than a threshold. - View Dependent Claims (7, 8, 9)
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10. A computer program embodied in a tangible non-transitory computer readable medium for efficiently managing content of a landmark database in an autonomous localization and mapping system, the computer program comprising:
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a module with instructions configured to determine a density of landmarks in one or more maps; and a module with instructions configured to discontinue the adding of new landmarks to the one or more maps at least partially in response to a determination that the density of landmarks is higher than a threshold. - View Dependent Claims (11, 12)
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13. A circuit adapted to efficiently manage content of a landmark database in an autonomous localization and mapping system, the circuit comprising:
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a circuit configured to determine a density of landmarks in one or more maps; and a circuit configured to discontinue the adding of new landmarks to the one or more maps at least partially in response to a determination that the density of landmarks is higher than a threshold. - View Dependent Claims (14, 15, 16)
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Specification