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:
Aug. 17, 2021
Filed:
Jun. 26, 2017
Applicant:
Robert Bosch Gmbh, Stuttgart, DE;
Inventors:
Soohwan Kim, Sunnyvale, CA (US);
Benzun Pious Wisely Babu, Worcester, MA (US);
Zhixin Yan, Worcester, MA (US);
Liu Ren, Cupertino, CA (US);
Assignee:
Robert Bosch GmbH, Stuttgart, DE;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G06K 9/00 (2006.01); G06T 7/579 (2017.01); G06F 16/783 (2019.01); G06T 7/20 (2017.01);
U.S. Cl.
CPC ...
G06K 9/00744 (2013.01); G06F 16/7837 (2019.01); G06T 7/20 (2013.01); G06T 7/579 (2017.01); G06T 2207/20072 (2013.01); G06T 2207/20076 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30244 (2013.01);
Abstract
A visual SLAM system comprises a plurality of keyframes including a keyframe, a current keyframe, and a previous keyframe, a dual dense visual odometry configured to provide a pairwise transformation estimate between two of the plurality of keyframes, a frame generator configured to create keyframe graph, a loop constraint evaluator adds a constraint to the receiving keyframe graph, and a graph optimizer configured to produce a map with trajectory.