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:
Dec. 09, 2025
Filed:
Aug. 12, 2022
Applicant:
Carnegie Mellon University, Pittsburgh, PA (US);
Inventors:
Ji Zhang, Pittsburgh, PA (US);
Sanjiv Singh, Pittsburgh, PA (US);
Kevin Joseph Dowling, Gibsonia, PA (US);
Assignee:
CARNEGIE MELLON UNIVERSITY, PITTSBURGH, US;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G01S 17/42 (2006.01); G01S 7/48 (2006.01); G01S 7/51 (2006.01); G01S 17/66 (2006.01);
U.S. Cl.
CPC ...
G01S 17/42 (2013.01); G01S 7/4808 (2013.01); G01S 7/51 (2013.01); G01S 17/66 (2013.01);
Abstract
A system configured to derive a motion estimate for a SLAM device using an IMU forming a part of the SLAM system. The system may be configured to refine the motion estimate via a visual-inertial odometry optimization process to produce a refined estimate and refine the refined estimate via a laser odometry optimization process by minimizing at least one residual squared error between at least one feature in a current scan and at least one previously scanned feature.