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:
May. 12, 2015
Filed:
Jul. 14, 2011
Rakesh Kumar, West Windsor, NJ (US);
Supun Samarasekera, Princeton, NJ (US);
Han-pang Chiu, Princeton, NJ (US);
Zhiwei Zhu, Princeton, NJ (US);
Taragay Oskiper, East Windsor, NJ (US);
LU Wang, Plainsboro, NJ (US);
Raia Hadsell, West Windsor, NJ (US);
Rakesh Kumar, West Windsor, NJ (US);
Supun Samarasekera, Princeton, NJ (US);
Han-Pang Chiu, Princeton, NJ (US);
Zhiwei Zhu, Princeton, NJ (US);
Taragay Oskiper, East Windsor, NJ (US);
Lu Wang, Plainsboro, NJ (US);
Raia Hadsell, West Windsor, NJ (US);
SRI International, Menlo Park, CA (US);
Abstract
A method and apparatus for providing three-dimensional navigation for a node comprising an inertial measurement unit for providing gyroscope, acceleration and velocity information (collectively IMU information); a ranging unit for providing distance information relative to at least one reference node; at least one visual sensor for providing images of an environment surrounding the node; a preprocessor, coupled to the inertial measurement unit, the ranging unit and the plurality of visual sensors, for generating error states for the IMU information, the distance information and the images; and an error-state predictive filter, coupled to the preprocessor, for processing the error states to produce a three-dimensional pose of the node.