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:
May. 21, 2019
Filed:
Jul. 31, 2017
Applicant:
Carnegie Mellon University, Pittsburgh, PA (US);
Inventors:
Assignee:
CARNEGIE MELLON UNIVERSITY, Pittsburgh, PA (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G01C 23/00 (2006.01); G01C 21/16 (2006.01); G06T 7/73 (2017.01); G06T 7/246 (2017.01); G06T 7/285 (2017.01); G06T 7/292 (2017.01); G01C 5/06 (2006.01); G01S 19/53 (2010.01); G01S 19/48 (2010.01); G06T 7/579 (2017.01); G06T 7/593 (2017.01); G06T 7/277 (2017.01); G01S 19/40 (2010.01); B64C 39/02 (2006.01); H04N 13/282 (2018.01); H04N 13/239 (2018.01);
U.S. Cl.
CPC ...
G01C 23/00 (2013.01); G01C 5/06 (2013.01); G01C 21/165 (2013.01); G01S 19/48 (2013.01); G01S 19/53 (2013.01); G06T 7/248 (2017.01); G06T 7/277 (2017.01); G06T 7/285 (2017.01); G06T 7/292 (2017.01); G06T 7/579 (2017.01); G06T 7/593 (2017.01); G06T 7/74 (2017.01); B64C 39/024 (2013.01); G01S 19/40 (2013.01); G06T 2207/10021 (2013.01); G06T 2207/10032 (2013.01); G06T 2207/30244 (2013.01); H04N 13/239 (2018.05); H04N 13/282 (2018.05);
Abstract
A state estimation system that utilizes long-range stereo visual odometry that can degrade to a monocular system at high-altitude, and integrates GPS, Barometer and IMU measurements. The system has two main parts: An EKF that is loosely fused and a long-range visual odometry part. For visual odometry, the system takes the EKF information for robust camera pose tracking, and the visual odometry outputs will be the measurement for EKF state update.