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1. (WO2017201282) SYSTEM AND METHOD FOR CONCURRENT ODOMETRY AND MAPPING
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Pub. No.: WO/2017/201282 International Application No.: PCT/US2017/033321
Publication Date: 23.11.2017 International Filing Date: 18.05.2017
Chapter 2 Demand Filed: 14.03.2018
IPC:
G06F 3/01 (2006.01) ,G06F 3/038 (2013.01) ,G06T 7/73 (2017.01)
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
F
ELECTRIC DIGITAL DATA PROCESSING
3
Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01
Input arrangements or combined input and output arrangements for interaction between user and computer
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
F
ELECTRIC DIGITAL DATA PROCESSING
3
Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
01
Input arrangements or combined input and output arrangements for interaction between user and computer
03
Arrangements for converting the position or the displacement of a member into a coded form
033
Pointing devices displaced or positioned by the user; Accessories therefor
038
Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
[IPC code unknown for G06T 7/73]
Applicants: GOOGLE LLC[US/US]; 1600 Amphitheatre Parkway Mountain View, California 94043, US
Inventors: NERURKAR, Esha; US
LYNEN, Simon; US
ZHAO, Sheng; US
Agent: SHEEHAN, Adam D.; US
BOULT WADE TENNANT; Verulam Gardens 70 Gray's Inn Road London WC1 X 8BT, GB
Priority Data:
15/595,61715.05.2017US
62/337,98718.05.2016US
Title (EN) SYSTEM AND METHOD FOR CONCURRENT ODOMETRY AND MAPPING
(FR) SYSTÈME ET PROCÉDÉ D'ODOMÉTRIE ET DE CARTOGRAPHIE SIMULTANÉES
Abstract:
(EN) An electronic device [100] tracks its motion in an environment while building a three-dimensional visual representation [225] of the environment that is used to correct drift in the tracked motion. A motion tracking module [210] estimates poses of the electronic device based on feature descriptors [215] corresponding to the visual appearance of spatial features of objects in the environment. A mapping module [220] builds a three-dimensional visual representation of the environment based on a stored plurality of maps [417], and feature descriptors and estimated device poses received from the motion tracking module. The localization module performs a loop closure by minimizing the discrepancies between matching feature descriptors to compute a localized pose. The localized pose corrects drift in the estimated pose generated by the motion tracking module.
(FR) L'invention concerne un dispositif électronique [100] suivant son mouvement dans un environnement tout en construisant une représentation visuelle tridimensionnelle [225] de l'environnement utilisée pour corriger une dérive dans le mouvement suivi. Un module de suivi de mouvements [210] estime les poses du dispositif électronique en fonction de descripteurs de caractéristiques [215] correspondant à l'aspect visuel des caractéristiques spatiales d'objets dans l'environnement. Un module de cartographie [220] construit une représentation visuelle tridimensionnelle de l'environnement en fonction d'une pluralité mémorisée de cartes [417] et des descripteurs de caractéristiques et des poses de dispositif estimées reçues en provenance du module de suivi de mouvements. Le module de localisation effectue une fermeture de boucle en minimisant les différences entre les descripteurs de caractéristiques correspondants pour calculer une pose localisée. La pose localisée corrige la dérive dans la pose estimée générée par le module de suivi de mouvements.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)