发明名称 |
FAST SOLVING FOR LOOP CLOSURE |
摘要 |
The subject disclosure is generally directed towards a relatively fast and accurate technology that corrects mobile device (e.g., mobile robot) mapping data into corrected map data based upon detection of loop closure. A variation of stochastic gradient descent (with constraints in a deterministic order) may be used in a first correction phase to provide an updated graph in a relatively fast manner by operating in a relative state space. A graph-based variant of Gauss-Seidel that operates in a global state space may be used in a later phase to refine the updated graph into a more exact graph. |
申请公布号 |
WO2015179108(A1) |
申请公布日期 |
2015.11.26 |
申请号 |
WO2015US28886 |
申请日期 |
2015.05.01 |
申请人 |
MICROSOFT TECHNOLOGY LICENSING, LLC |
发明人 |
BIRCHFIELD, STANLEY;PEASLEY, BRIAN KAI |
分类号 |
G06T7/00 |
主分类号 |
G06T7/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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