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. 04, 2020
Filed:
Jul. 17, 2018
Applicant:
Robert Bosch Gmbh, Stuttgart, DE;
Inventors:
Assignee:
Robert Bosch GmbH, Stuttgart, DE;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G06T 17/20 (2006.01); G06T 7/586 (2017.01); G06T 7/579 (2017.01); G06T 7/33 (2017.01); G06T 7/70 (2017.01);
U.S. Cl.
CPC ...
G06T 17/205 (2013.01); G06T 7/344 (2017.01); G06T 7/579 (2017.01); G06T 7/586 (2017.01); G06T 7/70 (2017.01); G06T 2200/08 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30244 (2013.01);
Abstract
A novel map representation called Probabilistic Surfel Map (PSM) for dense visual SLAM is disclosed. The PSM maintains a globally consistent map with both photometric and geometric uncertainties encoded in order to address inconsistency and sensor noise. A key aspect of the visual SLAM method disclosed herein is the proper modeling and updating of the photometric and geometric uncertainties encoded in the PSM. Strategies for applying the PSM for improving both the front-end pose estimation and the back-end optimization are disclosed. Moreover, the PSM enables generation of a high quality dense point cloud with high accuracy.