Monocular Modes for Autonomous Platform Guidance Systems with Auxiliary Sensors
AssigneeTrifo, Inc.
InventorsZhe ZHANG, Grace TSAI, Shaoshan LIU
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Abstract
The described positional awareness techniques employing 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. The sensory data are gathered from an operational camera and one or more auxiliary sensors.
Claims20
A method of guiding a mobile unit including a visual sensor having at least one operational camera and at least one auxiliary sensor, including one or more selected from (a multi-axis IMU, a wheel odometry sensor and a depth sensor), the method including:
- obtaining a location of the mobile unit and perspective, including view direction, of a camera, referred to collectively as an initial pose;
- obtaining information indicating travel Pl including a rotational portion and a translational portion of movement of the mobile unit;
- obtaining a propagated pose from the initial pose using information indicating travel Pl;
- obtaining a corrected pose, the corrected pose being obtained from a captured image frame by:
- extracting features from the captured image frame;
- matching the features extracted to retrieved feature points, producing a list of matching features;
- determining a scale factor using information from translational portion of information indicating travel Pl and a translational portion of positions of matching features in the list of matching features;
- and
- calculating a corrected pose Pm using the scale factor applied to at least a magnitude of translational portion of positions of matching features to determine a corrected pose;
- and
- guiding the mobile unit using one or both of the propagated pose and the corrected pose.
A system including a processor and a computer readable storage unit storing instructions for guiding a mobile unit including a visual sensor having at least one operational camera and at least one auxiliary sensor, including one or more selected from (a multi-axis IMU, a wheel odometry sensor and a depth sensor), which instructions, when executed by the processor perform:
- obtaining a location of the mobile unit and perspective, including view direction, of a camera, referred to collectively as an initial pose;
- obtaining information indicating travel Pl including a rotational portion and a translational portion of movement of the mobile unit;
- obtaining a propagated pose from the initial pose using information indicating travel Pl;
- obtaining a corrected pose, the corrected pose being obtained from a captured image frame by:
- extracting features from the captured image frame;
- matching the features extracted to retrieved feature points, producing a list of matching features;
- determining a scale factor using information from translational portion of information indicating travel Pl and a translational portion of positions of matching features in the list of matching features;
- and
- calculating a corrected pose Pm using the scale factor applied to at least a magnitude of translational portion of positions of matching features to determine a corrected pose;
- and
- guiding the mobile unit using one or both of the propagated pose and the corrected pose.
A non-transitory computer readable medium storing instructions for guiding a mobile unit including a visual sensor having at least one operational camera and at least one auxiliary sensor, including one or more selected from (a multi-axis IMU, a wheel odometry sensor and a depth sensor), which instructions, when executed by a processor perform:
- obtaining a location of the mobile unit and perspective, including view direction, of a camera, referred to collectively as an initial pose;
- obtaining information indicating travel Pl including a rotational portion and a translational portion of movement of the mobile unit;
- obtaining a propagated pose from the initial pose using information indicating travel Pl;
- obtaining a corrected pose, the corrected pose being obtained from a captured image frame by:
- extracting features from the captured image frame;
- matching the features extracted to retrieved feature points, producing a list of matching features;
- determining a scale factor using information from translational portion of information indicating travel Pl and a translational portion of positions of matching features in the list of matching features;
- and
- calculating a corrected pose Pm using the scale factor applied to at least a magnitude of translational portion of positions of matching features to determine a corrected pose;
- and
- guiding the mobile unit using one or both of the propagated pose and the corrected pose.
Dependencies are inferred from the claim text.