发明名称 |
Odometry Feature Matching |
摘要 |
Methods and systems for determining features of interest for following within various frames of data received from multiple sensors of a device are disclosed. An example method may include receiving data from a plurality of sensors of a device. The method may also include determining, based on the data, motion data that is indicative of a movement of the device in an environment. The method may also include as the device moves in the environment, receiving image data from a camera of the device. The method may additionally include selecting, based at least in part on the motion data, features in the image data for feature-following. The method may further include estimating one or more of a position of the device or a velocity of the device in the environment as supported by the data from the plurality of sensors and feature-following of the selected features in the images. |
申请公布号 |
US2015235099(A1) |
申请公布日期 |
2015.08.20 |
申请号 |
US201414185616 |
申请日期 |
2014.02.20 |
申请人 |
Google Inc. |
发明人 |
Lee Johnny;Hesch Joel |
分类号 |
G06K9/46;G01V7/00;H04W4/02;H04N5/232;G06K9/48;G01P15/02;G06T7/20 |
主分类号 |
G06K9/46 |
代理机构 |
|
代理人 |
|
主权项 |
1. A method comprising:
receiving, using a processor, data from a plurality of sensors of a device; determining, based on the data, motion data that is indicative of a movement of the device in an environment; as the device moves in the environment, receiving image data from a camera of the device; selecting, based at least in part on the motion data, features in the image data for feature-following; and estimating one or more of a position of the device or a velocity of the device in the environment as supported by the data from the plurality of sensors and by feature-following of the selected features in the images. |
地址 |
Mauntain View CA US |