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Mapping and tracking system with features in three-dimensional space

机译：具有三维空间特征的制图跟踪系统

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摘要

LK-SURF, Robust Kalman Filter, HAR-SLAM, and Landmark Promotion SLAM methods are disclosed. LK-SURF is an image processing technique that combines Lucas-Kanade feature tracking with Speeded-Up Robust Features to perform spatial and temporal tracking using stereo images to produce 3D features can be tracked and identified. The Robust Kalman Filter is an extension of the Kalman Filter algorithm that improves the ability to remove erroneous observations using Principal Component Analysis and the X84 outlier rejection rule. Hierarchical Active Ripple SLAM is a new SLAM architecture that breaks the traditional state space of SLAM into a chain of smaller state spaces, allowing multiple tracked objects, multiple sensors, and multiple updates to occur in linear time with linear storage with respect to the number of tracked objects, landmarks, and estimated object locations. In Landmark Promotion SLAM, only reliable mapped landmarks are promoted through various layers of SLAM to generate larger maps.

机译：公开了LK-SURF，鲁棒卡尔曼滤波器，HAR-SLAM和地标推广SLAM方法。 LK-SURF是一种图像处理技术，将Lucas-Kanade特征跟踪与Speeded-Up Robust Feature相结合，可以使用立体图像执行空间和时间跟踪，以生成可被识别的3D特征。健壮的卡尔曼滤波器是卡尔曼滤波器算法的扩展，提高了使用主成分分析和X84离群值拒绝规则删除错误观察值的能力。分层主动纹波SLAM是一种新的SLAM体系结构，它将SLAM的传统状态空间分为一系列较小的状态空间，从而允许在线性时间内以线性方式存储多个被跟踪对象，多个传感器和多个更新，并且跟踪的对象，地标和估计的对象位置。在Landmark Promotion SLAM中，只有可靠的地图地标才通过SLAM的各个层进行提升，以生成更大的地图。

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公开/公告号US10750155B2

专利类型
公开/公告日2020-08-18

原文格式PDF
申请/专利权人 TRX SYSTEMS INC.;
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申请/专利号US201816009115
发明设计人 JOHN GEORGE KARVOUNIS;
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申请日2018-06-14
分类号H04N7/18;H04N13/239;G06K9;G06K9/62;H04N5/222;G06T7/80;G06T7/246;G06T7/277;H04N13/282;H04N13;G06K9/46;H04N13/246;H04N13/122;
国家 US
入库时间 2022-08-21 11:30:58

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