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1. (WO2017172778) COLLABORATIVE NAVIGATION AND MAPPING

Pub. No.:    WO/2017/172778    International Application No.:    PCT/US2017/024554
Publication Date: Fri Oct 06 01:59:59 CEST 2017 International Filing Date: Wed Mar 29 01:59:59 CEST 2017
IPC: G01C 21/34
G01C 21/36
Applicants: SRI INTERNATIONAL
Inventors: CHIU, Han-Pang
SAMARASEKERA, Supun
KUMAR, Rakesh
SIZINTSEV, Mikhail
ZHOU, Xun
MILLER, Philip
MURRAY, Glenn
Title: COLLABORATIVE NAVIGATION AND MAPPING
Abstract:
During GPS-denied/restricted navigation, images proximate a platform device are captured using a camera, and corresponding motion measurements of the platform device are captured using an IMU device. Features of a current frame of the images captured are extracted. Extracted features are matched and feature information between consecutive frames is tracked. The extracted features are compared to previously stored, geo-referenced visual features from a plurality of platform devices. If one of the extracted features does not match a geo-referenced visual feature, a pose is determined for the platform device using IMU measurements propagated from a previous pose and relative motion information between consecutive frames, which is determined using the tracked feature information. If at least one of the extracted features matches a geo-referenced visual feature, a pose is determined for the platform device using location information associated with the matched, geo-referenced visual feature and relative motion information between consecutive frames.