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US 11,900,536 B2Granted
Visual-inertial positional awareness for autonomous and non-autonomous tracking
AssigneeTrifo, Inc.
InventorsZhe Zhang, Grace Tsai, Shaoshan Liu
Life of this patent
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Abstract
The described positional awareness techniques employing visual-inertial sensory data gathering and analysis hardware with reference to specific example implementations implement improvements in the use of sensors, techniques and hardware design that can enable specific embodiments to provide positional awareness to machines with improved speed and accuracy.
Claims20
A method for building 3D maps from a surrounding scenery, including:
- receiving from a first source, first visual information of the surrounding scenery and a position where the first visual information was captured;
- classifying at least one of one or more objects from the first visual information of the surrounding scenery into a set of moving objects and a set of non-moving objects;
- determining a sparse 3D mapping of object feature points taken from the first visual information of the surrounding scenery from the set of non-moving objects;
- and
- building a first 3D map of object feature points from the sparse 3D mapping of object feature points.
2 more elements
A non-transitory computer readable medium storing instructions for building 3D maps from a surrounding scenery, which instructions when executed by a processor perform a method for building 3D maps from a surrounding scenery, comprising:
- receiving from a first source, first visual information from surrounding scenery and a position where the first visual information was captured;
- classifying at least one of one or more objects from the first visual information of the surrounding scenery into a set of moving objects and a set of non-moving objects;
- determining a sparse 3D mapping of object feature points taken from the first visual information of the surrounding scenery from the set of non-moving objects;
- and
- building a first 3D map of object feature points from the sparse 3D mapping of object feature points.
2 more elements
A system including:
- two or more mobile autonomous units, including a first autonomous unit and a second autonomous unit, each having a mobile platform and disposed thereon:
- a visual sensor comprising cameras providing capturing images including at least two frames, thereby providing a 360-degrees view about a centerline of the mobile platform;
- and
- at least one of:
- multi-axis inertial measuring unit (IMU) sensor capable of providing measurement of at least acceleration using one or more accelerometers;
- and
- a global positioning system (GPS) receiver;
- and
- a map server, including a processor and a coupled memory storing instructions for building 3D maps from a surrounding scenery, which instructions when executed by the processor perform actions including:
- receiving from a first source, first visual information of the surrounding scenery and a position where the first visual information was captured;
- classifying at least one of one or more objects from the first visual information of the surrounding scenery into a set of moving objects and a set of non-moving objects;
- determining a sparse 3D mapping of object feature points taken from the first visual information of the surrounding scenery from the set of non-moving objects;
- and
- building a first 3D map of object feature points from the sparse 3D mapping of object feature points.
11 more elements
An autonomous device for building 3D maps from a surrounding scenery, including:
- at least a camera visual sensor;
- and
- at least one selected from a global positioning system and an inertial measurement unit;
- and a processor coupled to a memory storing instructions for performing actions, including:
- capturing visual information of the surrounding scenery and a position where the visual information was captured;
- and
- providing the visual information of the surrounding scenery and a position where the visual information was captured to a server for:
- classification of at least one of one or more objects from the visual information of the surrounding scenery into a set of moving objects and a set of non-moving objects;
- determination of a sparse 3D mapping of object feature points taken from visual information of the surrounding scenery from the set of non-moving objects;
- and
- building of a 3D map of object feature points from the sparse 3D mapping of object feature points.
8 more elements
Dependencies are inferred from the claim text.