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:
Dec. 28, 2021
Filed:
Jan. 13, 2017
Zhejiang University, Hangzhou, CN;
Hujun Bao, Hangzhou, CN;
Guofeng Zhang, Hangzhou, CN;
Haomin Liu, Hangzhou, CN;
Chen Li, Hangzhou, CN;
ZHEJIANG UNIVERSITY, Hangzhou, CN;
Abstract
A simultaneously localization and dense three-dimensional reconstruction method, being capable of processing rapid motion and frequent closing of a loop in a robust manner, and operating at any time in a large-scale scene. Provided by the method is a key frame-based simultaneous localization and map construction framework. First, depth and color information are used simultaneously, and the framework may operate on central processing unit (CPU) at high speed based on localization of the key frame, and operate in challenging scene in robust manner. To reduce accumulated errors, the method introduces increment bundle adjustment, which may greatly reduce an operation amount and enable local and global bundle adjustment to be completed in a unified framework. Secondly, provided by the method is a key frame-based fusion method, and a model may be generated online and a three-dimensional model may be updated in real time during adjustment of the key frame's pose.