Systems and methods for filtering potentially unreliable visual data for visual simultaneous localization and mapping

• US 8,150,650 B2
• Filed: 07/26/2010
• Issued: 04/03/2012
• Est. Priority Date: 12/17/2002
• Status: Expired due to Term

• Current Assignee: iRobot Corporation
• Original Assignee: Evolution Robotics Inc. (iRobot Corporation)
• Inventors: Goncalves, Luis Filipe Domingues, Di Bernardo, Enrico, Pirjanian, Paolo, Karlsson, L. Niklas
• Primary Examiner(s): KUNDU, SUJOY K
• Application Number:
  US12/843,656
• Publication Number:
  US 20100286905A1
• Time in Patent Office: 617 Days
• Field of Search: 702/150, 702/152, 702/153, 700/205, 700/245, 700/247, 700/250, 700/253, 700/256, 700/258, 700/259, 701 24- 26, 701/207, 701/211, 701/301
• US Class Current: 702/150
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/55 from multiple images
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 Sensing device
• CPC Class Codes: Y10S 901/47 Optical
• CPC Class Codes: Y10S 901/50 Miscellaneous

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.

Claims

1. An apparatus comprising:

a computer program embodied in a tangible non-transitory computer-readable medium for identifying an unreliable visual measurement for navigation of a mobile device, the computer program comprising;

program instructions configured to determine that one or more features in an image match with one or more features from at least one previously identified landmark, wherein the determination of the matching one or more features is performed by a visually-based automated process, wherein landmarks are used for automated navigation of the mobile device;

program instructions configured to analyze one or more quality metrics associated with the match between the one or more features of the image and the at least one previously identified landmark; and

program instructions configured to automatically determine that the visual measurement is unreliable at least partly based on the analysis of the one or more quality metrics; and

a processor of the mobile device configured to execute the program instructions of the computer program.

2. The apparatus as defined in claim 1, wherein the program instructions configured to automatically determine that the visual measurement is unreliable further comprises instructions configured to determine whether to use the match at least partly based on the one or more quality metrics.

3. The apparatus as defined in claim 1, wherein the computer program is embodied in a robot for robot navigation.

4. The apparatus as defined in claim 1, wherein the program instructions configured to automatically determine that the visual measurement is unreliable further comprises instructions configured to receive an indication from a visual front end that one or more features in the image match.

5. The apparatus as defined in claim 1, wherein the program instructions configured to analyze one or more quality metrics further comprises:

instructions configured to receive an indication related to a quality of the match; and

instructions configured to compare the indication to a predetermined threshold.

6. An apparatus comprising:

a computer program embodied in a tangible non-transitory computer-readable medium for identifying an unreliable visual measurement for navigation, the computer program comprising;

program instructions configured to determine that one or more features in an image match with one or more features from at least one previously identified landmark, wherein the determination of the matching one or more features is performed by a visually-based automated process;

program instructions configured to analyze one or more quality metrics associated with the match between the one or more features of the image and the at least one previously identified landmark, the program instructions configured to analyze further comprising;

instructions configured to receive an indication related to a quality of the match, wherein the indication relates to a count of a number of features that match between the image and the previously-identified landmark; and

instructions configured to compare the indication to a predetermined threshold;

program instructions configured to automatically determine that the visual measurement is unreliable at least partly based on the analysis of the one or more quality metrics, wherein the program instructions configured to automatically determine that the visual measurement is unreliable further comprises instructions configured to determine that the measurement is unreliable when the number of features that match does not exceed a predetermined number; and

a processor configured to execute the program instructions of the computer program.

7. An apparatus comprising:

a computer program embodied in a tangible non-transitory computer-readable medium for identifying an unreliable visual measurement for navigation, the computer program comprising;

program instructions configured to determine that one or more features in an image match with one or more features from at least one previously identified landmark, wherein the determination of the matching one or more features is performed by a visually-based automated process;

program instructions configured to analyze one or more quality metrics associated with the match between the one or more features of the image and the at least one previously identified landmark, the program instructions further comprising;

instructions configured to receive an indication related to a quality of the match, wherein the indication relates to a root-mean-square (RMS) projection error between (i) a set of the 2-dimensional projected features of the previously-observed landmark as projected after a calculation of a hypothetical relative device pose and (ii) a set of the 2-dimensional features of the image, and wherein the program instructions to automatically determine that the visual measurement is potentially unreliable further comprises instructions configured to determine that the measurement is unreliable when the RMS projection error exceeds a predetermined number; and

instructions configured to compare the indication to a predetermined threshold;

program instructions configured to automatically determine that the visual measurement is unreliable at least partly based on the analysis of the one or more quality metrics; and

a processor configured to execute the program instructions of the computer program.

8. An apparatus comprising:

a computer program embodied in a tangible non-transitory computer-readable medium for identifying an unreliable visual measurement for navigation, the computer program comprising;

program instructions configured to determine that one or more features in an image match with one or more features from at least one previously identified landmark, wherein the determination of the matching one or more features is performed by a visually-based automated process;

program instructions configured to analyze one or more quality metrics associated with the match between the one or more features of the image and the at least one previously identified landmark, the program instructions further comprising;

instructions configured to receive an indication related to a quality of the match;

instructions configured to compare the indication to a predetermined threshold;

program instructions configured to automatically determine that the visual measurement is unreliable at least partly based on the analysis of the one or more quality metrics; and

a processor of a mobile device configured to execute the program instructions of the computer program, wherein the computer program is configured to provide navigation, wherein;

the mobile device is configured to travel along a surface;

the indication relates to a computation of a slope of the surface;

the slope corresponds to a measurement of vertical displacement per unit of measured horizontal translation; and

wherein the program instructions configured to automatically determine that the visual measurement is unreliable further comprises instructions configured to determine that the measurement is unreliable when the slope of the surface exceeds a predetermined number.

9. The apparatus as defined in claim 8, wherein the slope equals: