Back to results
US 2021/0240198 A1Published application
Fault-Tolerance to Provide Robust Tracking for Autonomous and Non-Autonomous Positional Awareness
AssigneeTrifo, Inc.
InventorsGrace TSAI, Zhe ZHANG, Shaoshan LIU
Life of this patent
Estimating the term…
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 system for guiding a mobile platform in an unmapped area, the system including:
- a mobile platform;
- a sensory interface coupling to one or more sensors including at least some visual sensors and at least some inertial sensors including at least a motion detector, wherein the one or more sensors are configured to sense one or more of position, motion or environment of the mobile platform;
- a processor coupled to the sensory interface and the mobile platform to provide guidance and control, and further coupled to a computer readable storage medium storing computer instructions configured for performing:
- maintaining a set of time dependent tracking states that include:
- (i) a pose and (ii) one or more frames of sensor readings including at least some frames from visual sensors wherein at least some frames include sets of 2D feature points located using image information from the visual sensors;
- wherein each frame of sensor readings can include sensory information received from any one of a plurality of sensors available to the mobile platform;
- selecting two or more tracking states from the set of time dependent tracking states;
- detecting when one or more visual sensors has failed or is not updating or is insufficiently updating and whenever one or more visual sensors has failed or is not updating or is insufficiently updating, using the motion detector to control pose estimation by tracking a set of inertial readings from the motion detector, using variance obtained for a plurality of dimensions in the set of inertial readings;
- updating current poses for at least two of the tracking states within the set of time dependent tracking states based upon the set of inertial readings from the motion detector as tracked;
- and
- guiding the mobile platform using at least one of the updated current poses determined for the at least two tracking states.
8 more elements
A non-transitory computer readable medium having instructions stored thereon for performing a method of guiding a mobile platform in an unmapped area and without producing a map of the unmapped area, including:
- maintaining a set of time dependent tracking states that include:
- (i) a pose and (ii) one or more frames of sensor readings including at least some frames from visual sensors wherein at least some frames include sets of 2D feature points located using image information from the visual sensors;
- wherein each frame of sensor readings can include sensory information received from any one of a plurality of sensors available to the mobile platform;
- selecting two or more tracking states from the set of time dependent tracking states;
- detecting when one or more visual sensors has failed or is not updating or is insufficiently updating and whenever one or more visual sensors has failed or is not updating or is insufficiently updating, using a motion detector to control pose estimation by tracking a set of inertial readings from the motion detector, using variance obtained for a plurality of dimensions in the set of inertial readings;
- updating current poses for at least two of the two or more tracking states within the set of time dependent tracking states based upon the set of inertial readings from the motion detector as tracked;
- and
- guiding the mobile platform using at least one of the updated current poses determined for the at least two tracking states.
5 more elements
A method of guiding a mobile platform in an unmapped area, including:
- maintaining a set of time dependent tracking states that include:
- (i) a pose and (ii) one or more frames of sensor readings including at least some frames from visual sensors wherein at least some frames include sets of 2D feature points located using image information from the visual sensors;
- wherein each frame of sensor readings can include sensory information received from any one of a plurality of sensors available to the mobile platform;
- selecting two or more tracking states from the set of time dependent tracking states;
- detecting when one or more visual sensors has failed or is not updating or is insufficiently updating and whenever one or more visual sensors has failed or is not updating or is insufficiently updating, using a motion detector to control pose estimation by tracking a set of inertial readings from the motion detector, using variance obtained for a plurality of dimensions in the set of inertial readings;
- updating current poses for at least two of the two or more tracking states within the set of time dependent tracking states based upon the set of inertial readings from the motion detector as tracked;
- and
- guiding the mobile platform using at least one of the updated current poses determined for the at least two tracking states.
5 more elements
Dependencies are inferred from the claim text.