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:
Sep. 13, 2022
Filed:
Sep. 23, 2019
Amazon Technologies, Inc., Seattle, WA (US);
David Allen Fotland, San Jose, CA (US);
Ishan Ankur Patil, Mountain View, CA (US);
Yan Lu, Newark, CA (US);
Joydeep Biswas, Austin, TX (US);
AMAZON TECHNOLOGIES, INC., Seattle, WA (US);
Abstract
An autonomous mobile device moves through a physical space using simultaneous localization and mapping (SLAM) techniques. SLAM processes images from cameras to determine localization and trajectory of the device based on features that are assumed to be stationary. SLAM performance is improved by removing moving features from consideration. A first position of a feature at a first time and data from an inertial sensor are used to determine a predicted position at a second time. The predicted position is compared to a second position of the feature at the second time. This comparison takes into consideration an assumed Gaussian error distribution of how the positions are determined. If the predicted position differs from the second position by less than a threshold value, the feature may be determined to be stationary. The stationary features are then processed using SLAM to determine the localization and trajectory information.