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Patent attributes
Patent Jurisdiction
Patent Number
Patent Inventor Names
Tom Roussel0
Gaurav Pandey0
Praveen Narayanan0
Punarjay Chakravarty0
Date of Patent
January 5, 2021
0Patent Application Number
162693330
Date Filed
February 6, 2019
0Patent Primary Examiner
Patent abstract
Various examples of hybrid metric-topological camera-based localization are described. A single image sensor captures an input image of an environment. The input image is localized to one of a plurality of topological nodes of a hybrid simultaneous localization and mapping (SLAM) metric-topological map which describes the environment as the plurality of topological nodes at a plurality of discrete locations in the environment. A metric pose of the image sensor can be determined using a Perspective-n-Point (PnP) projection algorithm. A convolutional neural network (CNN) can be trained to localize the input image to one of the plurality of topological nodes and a direction of traversal through the environment.
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