Lightweight simultaneous location and mapping on spacecraft to determine structure and pose
OwnerRyan MCBEE, David R. CHAMBERSinventors
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Abstract
In an approach to lightweight simultaneous location and mapping (SLAM) on spacecraft to determine structure and pose, a system includes: one or more image capture devices; a buffer memory; a computing device; image processing circuitry; and odometry optimization circuitry. The system is configured to: receive a plurality of synchronized images from each of the one or more image capture devices; convert the plurality of synchronized images into a plurality of pairs of stereo images; perform stereo matching of the plurality of pairs of stereo images; extract edges from the plurality of pairs of stereo images; and align a current frame to a previous frame.
Claims20
A system for lightweight simultaneous location and mapping (SLAM) on spacecraft to determine structure and pose, the system comprising:
- one or more image capture devices;
- a computing device;
- image processing circuitry;
- visual odometry circuitry;
- and
- convex optimization circuitry;
- the system configured to:
- receive a plurality of synchronized images from each of the one or more image capture devices;
- convert the plurality of synchronized images into a plurality of pairs of stereo images;
- perform stereo matching of the plurality of pairs of stereo images;
- extract edges from the plurality of pairs of stereo images;
- and
- align a current frame to a previous frame.
A method for lightweight simultaneous location and mapping (SLAM) on spacecraft to determine structure and pose, the method comprising:
- receiving a plurality of synchronized images from one or more image capture devices;
- converting the plurality of synchronized images into a plurality of pairs of stereo images;
- performing stereo matching on the plurality of pairs of stereo images;
- extracting edges from the plurality of pairs of stereo images;
- and
- aligning a current frame from the plurality of pairs of stereo images to a previous frame from the plurality of pairs of stereo images.
A system for lightweight simultaneous location and mapping (SLAM) on spacecraft to determine structure and pose, the system comprising:
- one or more image capture devices;
- a field programmable gate array (FPGA), the FPGA further comprising:
- a computing device;
- image processing circuitry;
- visual odometry circuitry;
- and
- convex optimization circuitry;
- the FPGA configured to:
- receive a plurality of synchronized images from each of the one or more image capture devices;
- convert the plurality of synchronized images into a plurality of pairs of stereo images;
- perform stereo matching of the plurality of pairs of stereo images;
- extract edges from the plurality of pairs of stereo images;
- and
- align a current frame to a previous frame.
Dependencies are inferred from the claim text.