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:
Jun. 12, 2018
Filed:
Mar. 27, 2017
Regents of the University of Minnesota, Minneapolis, MN (US);
Stergios I. Roumeliotis, St Paul, MN (US);
Esha D. Nerurkar, Mountain View, CA (US);
Regents of the University of Minnesota, Minneapolis, MN (US);
Abstract
Estimation techniques for vision-aided inertial navigation are described. In one example, a vision-aided inertial navigation system (VINS) comprises an image source to produce image data for a keyframe and one or more non-keyframes along a trajectory, the one or more non-keyframes preceding the keyframe along the trajectory. The VINS comprises an inertial measurement unit (IMU) to produce IMU data indicative of a motion of the VINS along the trajectory for the keyframe and the one or more non-keyframes, and a processing unit comprising an estimator that processes the IMU data and the image data to compute state estimates of the VINS. The estimator computes the state estimates of the VINS for the keyframe by constraining the state estimates based on the IMU data and the image data for the one or more non-keyframes of the VINS without computing state estimates of the VINS for the one or more non-keyframes.