US 7,679,532 B2 · Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system

Abstract

The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Claims16

Dependent claims

A method of localizing a mobile device via a multiple-particle autonomous localization and mapping system, the method comprising:

performing autonomous localization and mapping with a plurality of particles, where a particle includes a device pose estimate and a map, where the map includes one or more landmarks;
receiving an indication that a landmark has been recognized and a visually-measured relative pose to the landmark has been estimated, where the landmark has been recognized using visual features from a visual sensor coupled to the mobile device, where the relative pose corresponds to a visually-measured difference in pose between a landmark pose and a pose corresponding to the visual observation;
and updating at least one of the plurality of particles at least partly in response to receiving the indication of the recognized landmark, wherein updating further comprises:
using a prior pose estimate and dead reckoning sensor data to compute a new pose estimate for particles in a selected group based on the estimated change in pose;
and
using the landmark pose and the visually-measured relative pose estimate to compute the new pose estimate for particles not in the selected group;
wherein performing autonomous localization and mapping, receiving the indication, and updating at least one of the plurality of particles are performed by computer hardware.

4 more elements

A computer program embodied in a computer-readable medium for localizing a mobile device via a multiple-particle autonomous localization and mapping system, the computer program comprising:

a module with instructions configured to perform autonomous localization and mapping with a plurality of particles, where a particle includes a device pose estimate and a map, where the map includes one or more landmarks;
a module with instructions configured to receive an indication that a landmark has been recognized and a visually-measured relative pose to the landmark has been estimated, where the landmark has been recognized using visual features from a visual sensor coupled to the mobile device, where the relative pose corresponds to a visually-measured difference in pose between a landmark pose and a pose corresponding to the visual observation;
and
a module with instructions configured to update at least one of the plurality of particles at least partly in response to receiving the indication of the recognized landmark, wherein the module with instructions configured to update further comprises:
instructions configured to use a prior pose estimate and dead reckoning sensor data to compute a new pose estimate for particles in a selected group based on the estimated change in pose;
and
instructions configured to use the landmark pose and the visually-measured relative pose estimate to compute the new pose estimate for particles not in the selected group.

4 more elements

Dependencies are inferred from the claim text.

Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system

Life of this patent

Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system

Life of this patent

Abstract

Claims16