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:
Nov. 30, 2021
Filed:
Jan. 14, 2019
The Trustees of the University of Pennsylvania, Philadelphia, PA (US);
Konstantinos Daniilidis, Wynnewood, PA (US);
George J. Pappas, Philadelphia, PA (US);
Sean Laurence Bowman, Philadelphia, PA (US);
Nikolay Asenov Atanasov, San Diego, CA (US);
THE TRUSTEES OF THE UNIVERSITY OF PENNSYLVANIA, Philadelphia, PA (US);
Abstract
A method for simultaneous location and mapping (SLAM) includes receiving, by at least one processor, a set of sensor measurements from a movement sensor of a mobile robot and a set of images captured by a camera on the mobile robot as the mobile robot traverses an environment. The method includes, for each image of at least a subset of the set of images, extracting, by the at least one processor, a plurality of detected objects from the image. The method includes estimating, by the at least one processor, a trajectory of the mobile robot and a respective semantic label and position of each detected object within the environment using the sensor measurements and an expectation maximization (EM) algorithm.