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:
Jan. 05, 2021
Filed:
Nov. 09, 2019
Beijing Xiaomi Intelligent Technology Co., Ltd., Beijing, CN;
Yutong Zang, Beijing, CN;
Binglin Chang, Beijing, CN;
Beijing Xiaomi Intelligent Technology Co., Ltd., Beijing, CN;
Abstract
A method includes: acquiring a second initial pose according to obstacle region information and geometric scale information of an indoor architectural structure drawing and a first initial pose; acquiring a first feature point location, a locating error and a first pose through a VSLAM algorithm during movement; acquiring a second pose according to the first pose, first initial pose and second initial pose; acquiring a distance to an obstacle according to the second pose, indoor architectural structure drawing and a ray casting algorithm; acquiring a third pose according to the distance, first feature point location, locating error, first pose and a filtering algorithm; acquiring a second feature point location according to the third pose and VSLAM algorithm; and creating an indoor environment map according to the second feature point location and a key frame set.