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Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system

  • US 8,274,406 B2
  • Filed: 03/15/2010
  • Issued: 09/25/2012
  • Est. Priority Date: 12/17/2002
  • Status: Expired due to Term
First Claim
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1. A method for efficiently managing content of a landmark database in a visual simultaneous localization and mapping system, the method comprising:

  • autonomously navigating a mobile device using one or more maps of the visual simultaneous localization and mapping system, and while autonomously navigating the mobile device, performing the following;

    creating new landmarks from images captured by a camera mounted on the mobile device;

    determining a density of the created landmarks in the one or more maps, wherein a landmark is associated with a pose of the mobile device that is determined when the landmark is created or updated when re-observed, wherein the pose corresponds to a position and orientation of the mobile device; 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 such that memory can be freed for other tasks;

    wherein autonomously navigating, creating, determining and discontinuing are performed under the control of electronic hardware.

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