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. 16, 2014
Filed:
May. 30, 2012
Jongwoo Lim, Sunnyvale, CA (US);
Jan-michael Frahm, Chapel Hill, NC (US);
Marc Pollefeys, Zurich, CH;
Jongwoo Lim, Sunnyvale, CA (US);
Jan-Michael Frahm, Chapel Hill, NC (US);
Marc Pollefeys, Zurich, CH;
Honda Motor Co., Ltd., Tokyo, JP;
The University of North Carolina at Chapel Hill, Chapel Hill, NC (US);
ETH Zurich, Zurich, CH;
Abstract
A system and method are disclosed for online mapping of large-scale environments using a hybrid representation of a metric Euclidean environment map and a topological map. The system includes a scene module, a location recognition module, a local adjustment module and a global adjustment module. The scene flow module is for detecting and tracking video features of the frames of an input video sequence. The scene flow module is also configured to identify multiple keyframes of the input video sequence and add the identified keyframes into an initial environment map of the input video sequence. The location recognition module is for detecting loop closures in the environment map. The local adjustment module enforces local metric properties of the keyframes in the environment map, and the global adjustment module is for optimizing the entire environment map subject to global metric properties of the keyframes in the keyframe pose graph.