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:
Aug. 25, 2026
Filed:
Jul. 02, 2021
Five Ai Limited, Bristol, GB;
William Froom, Bristol, GB;
Five AI Limited, Cambridge, GB;
Abstract
Systems and method for updating an accumulated 3D map are disclosed. A current point cloud is received, which is an untwisted lidar point cloud captured over a current interval, each point in the current point cloud associated with feature data indicating a feature type of each point of the current point cloud. Respective subsets of the current point cloud are provided to a plurality of processing threads, wherein each processing thread operates on its point cloud subset in parallel with the other processing thread(s) to perform the following mapping operations: compare each point of its point cloud subset with features of the accumulated 3D map to identify a corresponding feature of the same feature type in the accumulated 3D map, compute a distance between each point of its subset and the corresponding feature in the accumulated point cloud, and determine a derivative of each distance with respect to lidar pose change. The derivatives computed by the plurality of processing threads are used to: (i) calculate a refined pose change estimate over the current time interval, and (ii) augment the accumulated 3D map with the untwisted current point cloud using the refined pose change estimate.