System and method for drift-free global trajectory estimation of a mobile platform

A system for trajectory estimation of a mobile platform, the system comprising:

• one or more processors and a memory, the memory being a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions, the one or more processors perform operations of:
• generating an initial trajectory estimate for the mobile platform based on sensor data regarding a scene;
• determining if a location is a new location or a revisited location using real-time feature point detection;
• if the location is determined to be a revisited location, determining if trajectory correction is required;
• and
• if trajectory correction is required, generating a corrected trajectory as a drift-free trajectory, the corrected trajectory being generated based on a previously recorded position at the location;
• wherein in generating the corrected trajectory, the corrected trajectory is generated by performing operations of:
• sampling equally-spaced points from a latest trajectory segment in a buffered trajectory;
• determining corrected positions for each point in the latest trajectory segment, such that when the latest trajectory segment is a curved line, the corrected position for each point is determined based on a curve distance, the curve distance being a distance from each point to a starting point of the latest trajectory segment along the curved line;
• and
• connecting the corrected positions to form the corrected trajectory.

A computer program product for trajectory estimation of a mobile platform, the computer program product comprising:

• a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions by one or more processors, the one or more processors perform operations of:
• generating an initial trajectory estimate for the mobile platform based on sensor data regarding a scene;
• determining if a location is a new location or a revisited location using real-time feature point detection;
• if the location is determined to be a revisited location, determining if trajectory correction is required;
• and
• if trajectory correction is required, generating a corrected trajectory as a drift-free trajectory, the corrected trajectory being generated based on a previously recorded position at the location;
• wherein in generating the corrected trajectory, the corrected trajectory is generated by performing operations of:
• sampling equally-spaced points from a latest trajectory segment in a buffered trajectory;
• determining corrected positions for each point in the latest trajectory segment, such that when the latest trajectory segment is a straight line, the corrected position for each point is determined based on a geometric distance, the geometric distance being a distance from each point to a starting point of the latest trajectory segment;
• and
• connecting the corrected positions to form the corrected trajectory.

A computer program product for trajectory estimation of a mobile platform, the computer program product comprising:

• a non-transitory computer-readable medium having executable instructions encoded thereon, such that upon execution of the instructions by one or more processors, the one or more processors perform operations of:
• generating an initial trajectory estimate for the mobile platform based on sensor data regarding a scene;
• determining if a location is a new location or a revisited location using real-time feature point detection;
• if the location is determined to be a revisited location, determining if trajectory correction is required;
• and
• if trajectory correction is required, generating a corrected trajectory as a drift-free trajectory, the corrected trajectory being generated based on a previously recorded position at the location;
• wherein in generating the corrected trajectory, the corrected trajectory is generated by performing operations of:
• sampling equally-spaced points from a latest trajectory segment in a buffered trajectory;
• determining corrected positions for each point in the latest trajectory segment, such that when the latest trajectory segment is a curved line, the corrected position for each point is determined based on a curve distance, the curve distance being a distance from each point to a starting point of the latest trajectory segment along the curved line;
• and
• connecting the corrected positions to form the corrected trajectory.

A computer implemented method for trajectory estimation of a mobile platform, the method comprising an act of:

• executing instructions encoded on a non-transitory computer-readable medium, such that upon execution, one or more processors perform operations of:
• generating an initial trajectory estimate for the mobile platform based on sensor data regarding a scene;
• determining if a location is a new location or a revisited location using real-time feature point detection;
• if the location is determined to be a revisited location, determining if trajectory correction is required;
• and
• if trajectory correction is required, generating a corrected trajectory as a drift-free trajectory, the corrected trajectory being generated based on a previously recorded position at the location;
• wherein in generating the corrected trajectory, the corrected trajectory is generated by performing operations of:
• sampling equally-spaced points from a latest trajectory segment in a buffered trajectory;
• determining corrected positions for each point in the latest trajectory segment, such that when the latest trajectory segment is a straight line, the corrected position for each point is determined based on a geometric distance, the geometric distance being a distance from each point to a starting point of the latest trajectory segment;
• and
• connecting the corrected positions to form the corrected trajectory.

A computer implemented method for trajectory estimation of a mobile platform, the method comprising an act of:

• executing instructions encoded on a non-transitory computer-readable medium, such that upon execution, one or more processors perform operations of:
• generating an initial trajectory estimate for the mobile platform based on sensor data regarding a scene;
• determining if a location is a new location or a revisited location using real-time feature point detection;
• if the location is determined to be a revisited location, determining if trajectory correction is required;
• and
• if trajectory correction is required, generating a corrected trajectory as a drift-free trajectory, the corrected trajectory being generated based on a previously recorded position at the location;
• wherein in generating the corrected trajectory, the corrected trajectory is generated by performing operations of:
• sampling equally-spaced points from a latest trajectory segment in a buffered trajectory;
• determining corrected positions for each point in the latest trajectory segment, such that when the latest trajectory segment is a curved line, the corrected position for each point is determined based on a curve distance, the curve distance being a distance from each point to a starting point of the latest trajectory segment along the curved line;
• and
• connecting the corrected positions to form the corrected trajectory.