The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 12, 2019
Filed:
May. 25, 2017
Regents of the University of Minnesota, Minneapolis, MN (US);
Google Llc, Mountain View, CA (US);
Stergios I. Roumeliotis, St Paul, MN (US);
Esha D. Nerurkar, Mountain View, CA (US);
Joel Hesch, Mountain View, CA (US);
Chao Guo, Minneapolis, MN (US);
Ryan C. DuToit, San Jose, CA (US);
Kourosh Sartipi, Santa Clara, CA (US);
Georgios Georgiou, San Francisco, CA (US);
Regents of the University of Minnesota, Minneapolis, MN (US);
Abstract
A method includes: receiving, with a computing platform, respective trajectory data and map data independently generated by each of a plurality of vision-aided inertial navigation devices (VINS devices) traversing an environment, wherein the trajectory data specifies poses along a path through the environment for the respective VINS device and the map data specifies positions of observed features within the environment as determined by an estimator executed by the respective VINS device; determining, with the computing platform and based on the respective trajectory data and map data from each of the VINS devices, estimates for relative poses within the environment by determining transformations that geometrically relate the trajectory data and the map data between one or more pairs of the VINS devices; and generating, with the computing platform and based on the transformations, a composite map specifying positions within the environment for the features observed by the VINS devices.