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. 10, 2024
Filed:
May. 12, 2022
Microsoft Technology Licensing, Llc, Redmond, WA (US);
Christoph Vogel, Zurich, CH;
Jan-Willem Buurlage, Zurich, CH;
Johannes Lutz Schonberger, Zurich, CH;
Juan Ignacio Nieto Couadeau, Zurich, CH;
Marc Andre Leon Pollefeys, Zurich, CH;
Timon Esli Knigge, London, GB;
Marcel Nicolas Geppert, Zurich, CH;
Microsoft Technology Licensing, LLC., Redmond, WA (US);
Abstract
A 3D map comprising sensor data items depicting the environment is updated, each sensor data item having one or more associated variables such as a pose of a capture device or a position of a landmark. A graph is calculated from sensor data items. The graph comprises nodes and edges, a node representing at least one variable in the received sensor data items and an edge representing relationships between variables. The graph is partitioned into a plurality of subgraphs so as to reduce a number of variables that are shared between subgraphs. Each of the plurality of subgraphs is allocated to a respective worker node. At each worker node, updated values of the variables are computed. The process updates values of variables which are shared between subgraphs to a common value using a consensus process. The 3D map of the environment is updated according to the updated values of the variables.