Mapping in autonomous and non-autonomous platforms
AssigneeTrifo, Inc.
InventorsZhe ZHANG, Grace TSAI, 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 method for providing a refined map to a mobile platform, including at least some estimated poses and locations of at least some 3D points that define a map corrected in the refined map, the method comprising:
- determining for select 3D points in the map and within a field of view of a camera that captured at least one image data and location information and view information, a group identity selected from a set of:
- (i) a free point that is available to be refined;
- and (ii) a point that is not available to be refined;
- and
- correcting at least some estimated poses and locations of at least some of the free points to provide a refined map to the mobile platform.
A non-transitory computer readable storage medium, storing instructions to provide a refined map to a mobile platform, including at least some estimated poses and locations of at least some 3D points that define a map corrected in the refined map, which instructions, when executed on one or more processors, implement actions comprising:
- determining for select 3D points in the map and within a field of view of a camera that captured at least one instance of image data and location information and view information, a group identity selected from a set of:
- (i) a free point that is available to be refined;
- and (ii) a point that is not available to be refined;
- and
- correcting at least some estimated poses and locations of at least some of the free points to provide a refined map to the mobile platform.
A system, including:
- one or more hardware processors coupled to memory storing computer instructions for providing a refined map to a mobile platform, including at least some estimated poses and locations of at least some 3D points that define a map, corrected in the refined map, which computer instructions, when executed on the one or more hardware processors, implement actions comprising:
- determining for select 3D points in the map and within a field of view of a camera that captured at least one instance of image data and location information and view information, a group identity selected from a set of:
- (i) a free point that is available to be refined;
- and (ii) a point that is not available to be refined;
- and
- correcting at least some estimated poses and locations of at least some of the free points to provide a refined map to the mobile platform.
Dependencies are inferred from the claim text.