Multi-scan clustering for robust visual place recognition
AssigneeGoodmaps Inc.
InventorsFatemeh Mirzaei, Charlie Meredith
Life of this patent
Estimating the term…
Abstract
Implementations disclosed herein are directed to visual place recognition (VPR) for localization of a user in an environment. Processor(s) of a system can receive vision data from a client device, and can process the vision data to generate a feature cloud. The system can further process the feature cloud to identify a subset of clusters of candidate maps. The system can further process the subset of clusters of candidate maps to reduce a dimensionality thereof. The system can further select a given map as an operational map for the environment of the client device. The system can further cause the operational map to be used, for example, for indoor navigation, asset tracking, interactive virtual tours, and/or other uses.
Claims20
A method implemented by one or more processors, the method comprising:
- obtaining vision data that captures an environment of a user, the vision data being generated, by one or more vision components of a client device of the user, during a given scan of the environment of the user;
- processing the vision data that captures the environment of the user to generate a feature cloud corresponding to the environment of the user;
- processing the feature cloud corresponding to the environment of the user to identify a subset of clusters of candidate maps, from among a superset of clusters of candidate maps, that are predicted to correspond to the environment of the user;
- processing the subset of clusters of candidate maps that are predicted to correspond to the environment of the user to generate a reduced dimensionality subset of clusters of candidate maps that is of a reduced dimensionality relative to the subset of clusters of candidate maps;
- selecting a given map, from among the reduced dimensionality subset of clusters of candidate maps, to be utilized as an operational map for the environment of the user;
- and
- causing the given map corresponding to the environment of the user to be utilized as the operational map for the environment of the user.
A system comprising:
- at least one processor;
- and
- memory storing instructions that, when executed, cause the at least one processor to be operable to:
- obtain vision data that captures an environment of a user, the vision data being generated, by one or more vision components of a client device of the user, during a given scan of the environment of the user;
- process the vision data that captures the environment of the user to generate a feature cloud corresponding to the environment of the user;
- process the feature cloud corresponding to the environment of the user to identify a subset of clusters of candidate maps, from among a superset of clusters of candidate maps, that are predicted to correspond to the environment of the user;
- process the subset of clusters of candidate maps that are predicted to correspond to the environment of the user to generate a reduced dimensionality subset of clusters of candidate maps that is of a reduced dimensionality relative to the subset of clusters of candidate maps;
- select a given map, from among the reduced dimensionality subset of clusters of candidate maps, to be utilized as an operational map for the environment of the user;
- and
- cause the given map corresponding to the environment of the user to be utilized as the operational map for the environment of the user.
A non-transitory computer-readable storage medium storing computer executable instructions that, when executed by at least one processor, cause the at least one processor to:
- obtain vision data that captures an environment of a user, the vision data being generated, by one or more vision components of a client device of the user, during a given scan of the environment of the user;
- process the vision data that captures the environment of the user to generate a feature cloud corresponding to the environment of the user;
- process the feature cloud corresponding to the environment of the user to identify a subset of clusters of candidate maps, from among a superset of clusters of candidate maps, that are predicted to correspond to the environment of the user;
- process the subset of clusters of candidate maps that are predicted to correspond to the environment of the user to generate a reduced dimensionality subset of clusters of candidate maps that is of a reduced dimensionality relative to the subset of clusters of candidate maps;
- select a given map, from among the reduced dimensionality subset of clusters of candidate maps, to be utilized as an operational map for the environment of the user;
- and
- cause the given map corresponding to the environment of the user to be utilized as the operational map for the environment of the user.
Dependencies are inferred from the claim text.