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Wide area localization from SLAM maps

A wide-area positioning and mapping technology, applied in the field of positioning and mapping, to solve problems such as obsolescence

Inactive Publication Date: 2015-12-09
QUALCOMM INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As a result, the environment data calculated and exchanged with the server may be out of date by the time it reaches the mobile device

Method used

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  • Wide area localization from SLAM maps
  • Wide area localization from SLAM maps
  • Wide area localization from SLAM maps

Examples

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Embodiment Construction

[0021] The word "exemplary" or "example" is used herein to mean "serving as an example, instance, or illustration." Any aspect or embodiment described herein as "exemplary" or as "example" is not necessarily to be construed as superior or superior to other aspects or embodiments.

[0022] figure 1 is a block diagram illustrating a system in which embodiments of the invention may be practiced. The system may be a device 100 which may include a control unit 160 . The control unit 160 may include a general purpose processor 161 , a wide area location (WAL) module 167 and a memory 164 . For clarity, WAL module 167 is shown separately from processor 161 and / or hardware 162, but WAL module 167 may be combined and / or implemented on processor 161 and / or hardware 162 based on instructions in software 165 and firmware 163 middle. Note that the control unit 160 may be configured to implement various methods of performing wide-area positioning as described below. For example, the co...

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PUM

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Abstract

Exemplary methods, apparatuses, and systems for performing wide area localization from simultaneous localization and mapping (SLAM) maps are disclosed. A mobile device can select a first keyframe based SLAM map of the local environment with one or more received images. A respective localization of the mobile device within the local environment can be determined, and the respective localization may be based on the keyframe based SLAM map. The mobile device can send the first keyframe to a server and receive a first global localization response representing a correction to a local map on the mobile device. The first global localization response can include rotation, translation, and scale information. A server can receive keyframes from a mobile device, and localize the keyframes within a server map by matching keyframe features received from the mobile device to server map features.

Description

[0001] Cross References to Related Applications [0002] This application claims the benefit of United States Provisional Application US61 / 817,782, filed April 30, 2013, and this application is expressly incorporated herein by reference. technical field [0003] The present application relates generally to the field of localization and mapping in a client-server environment. Background technique [0004] Mobile devices, such as smartphones, can be used to create and track 3D map environments online (eg, simultaneously locate and map). However, mobile devices can have limited storage and processing, especially relative to powerful fixed-install server systems. Accordingly, the ability of a mobile device to accurately and independently determine a feature-rich and detailed map of an environment may be limited. A mobile device may not have a local database of maps, or even if a local database does exist, the local database may store a limited number of map elements or have l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00H04W4/029
CPCH04W4/04G01C21/005G01V3/38H04W4/029G01C21/20
Inventor 迪特尔·施马尔施蒂格克莱门斯·阿斯乔纳森·文图拉克里斯蒂安·皮尔基海姆格哈德·赖特迈尔
Owner QUALCOMM INC
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