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. 20, 2022
Filed:
Oct. 27, 2020
Rpx Corporation, San Francisco, CA (US);
Branislav Micusik, Kierling, AT;
RPX Corporation, San Francisco, CA (US);
Abstract
A method for detecting a loop closure is described. A device accesses pose information and a three-dimensional map of feature points generated by a visual inertia system of the device. The device splits the pose information into a translational part and a rotational part. The device limits the translational part to two-dimensional coordinates and estimates two-dimensional information of the limited translational part based on an accumulator voting space. The device determines an updated pose of the device based on the estimated two-dimensional information, the rotational part, and the three-dimensional map. The pose information is updated with the updated pose.