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:
Apr. 11, 2023
Filed:
Jul. 31, 2018
Oxford University Innovation Limited, Oxford, GB;
OXFORD UNIVERSITY INNOVATION LIMITED, Oxford, GB;
Abstract
A computer-implemented method 1000 of constructing a model of the motion of a mobile device, wherein the method comprises using a sensor of the device to obtain 1002 positional data providing an estimated pose of the mobile device, generating an initial graph 1004 based upon the positional data from the sensor, nodes of which graph provide a series of possible poses of the device, and edges of which graph represent odometry and/or loop closure constraints; processing the graph to estimate 1006 confidence scores for each loop closure by performing pairwise consistency tests between each loop closure and a set of other loop closures; and generating an augmented graph from the initial graph by retaining or deleting 1008 each loop closure based upon the confidence scores.
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