Systems and methods for controlling a density of visual landmarks in a visual simultaneous localization and mapping system

  • US 7,145,478 B2
  • Filed: 12/17/2003
  • Issued: 12/05/2006
  • Est. Priority Date: 12/17/2002
  • Status: Active Grant
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First Claim
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1. A method for managing content of a landmark database in a Visual Simultaneous Localization and Mapping System (VSLAM) for a mobile device, the method comprising:

  • visually obtaining a measurement of a landmark;

    analyzing a quality of the measurement, where the quality of the measurement provides an indication of whether the measurement is an outlier;

    storing an indication when the measurement has been identified as an outlier; and

    removing a landmark from the map when the measurements of the landmark are repeatedly identified as outliers.

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