Back to results
US 10,242,453 B2Granted
Simultaneous localization and mapping initialization
AssigneeLongsand Limited
InventorsPashmina Cameron, George Saklatvala
Life of this patent
Estimating the term…
Abstract
A pair of video frames may be used for simultaneous localization and mapping (SLAM) initialization. The pair of frames may be determined according to a translation threshold. Whether the translation threshold is met may be determined by obtaining the pair of video frames and estimating the translation between the frames.
Claims16
A method, comprising:
- obtaining, by a processor of a computing device, first and second video frames;
- determining, by the processor, whether a total number of corresponding features between the first and second video frames exceeds a correspondence threshold;
- in response to a determination that the total number of corresponding features exceeds the correspondence threshold, performing, by the processor, a two-dimensional (2D) transformation, including a 2D translation, from the features in the first video frame to the features in the second video frame;
- determining, by the processor, whether a magnitude of the 2D translation exceeds a translation threshold;
- and
- using the first and second of video frames for initialization of a simultaneous localization and mapping (SLAM) method in response a determination that the magnitude of the 2D translation exceeds the translation threshold.
3 more elements
A system, comprising:
- a processor;
- and
- a memory storing instructions that when executed cause the processor to:
- detect a first set of rays from a first video frame and a second set of rays from a second video frame, each ray from the first set and a corresponding ray from the second set representing a common feature in the first video frame and the second video frame;
- determine whether a total number of common features in the first and second video frames exceeds a correspondence threshold;
- in response to a determination that the total number of common features exceeds the correspondence threshold, estimate a two-dimensional (2D) transformation, including a 2D translation, from the first set of rays to the second set of rays;
- determine whether a magnitude of the 2D translation exceeds a translation threshold;
- and
- determine that the first video frame and the second video frame are suitable as initial frames for simultaneous localization and mapping (SLAM) based on a determination that the magnitude of the 2D translation exceeds the translation threshold.
6 more elements
A non-transitory computer readable medium storing instructions executable by a processor to:
- obtain a first video frame and a second video frame;
- extract a first feature set from the first video frame;
- extract a second feature set from the second video frame, elements of the first and second feature sets forming corresponding pairs of features;
- determine whether a total number of common features between the first and second video frames exceeds a correspondence threshold;
- in response to a determination that the total number of common features exceeds the correspondence threshold, perform a two-dimensional (2D) transformation, including a 2D translation, between the first feature set and the second feature set;
- in response to a determination that a magnitude of the 2D translation exceeds a translation threshold, use the first video and the second video frame for simultaneous localization and mapping (SLAM) initialization.
3 more elements
Dependencies are inferred from the claim text.