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. 29, 2022
Filed:
Mar. 05, 2020
Nvidia Corporation, Santa Clara, CA (US);
Chen Chen, San Jose, CA (US);
NVIDIA CORPORATION, Santa Clara, CA (US);
Abstract
According to an aspect of an embodiment, operations may comprise obtaining a pose graph that comprises a plurality of nodes. The operations may also comprise dividing the pose graph into a plurality of pose subgraphs, each pose subgraph comprising one or more respective pose subgraph interior nodes and one or more respective pose subgraph boundary nodes. The operations may also comprise generating one or more boundary subgraphs based on the plurality of pose subgraphs, each of the one or more boundary subgraphs comprising one or more respective boundary subgraph boundary nodes and comprising one or more respective boundary subgraph interior nodes. The operations may also comprise obtaining an optimized pose graph by performing a pose graph optimization. The pose graph optimization may comprise performing a pose subgraph optimization of the plurality of pose subgraphs and performing a boundary subgraph optimization of the plurality of boundary subgraphs.