Title:
ＶＳＬＡＭ最適化のためのシステムおよび方法
Document Type and Number:
Japanese Patent JP5745067
Kind Code:
B2
Abstract:
The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.
Inventors:
Ethan Eid
Mario E Munich
Philip Fong
Mario E Munich
Philip Fong
Application Number:
JP2013530375A
Publication Date:
July 08, 2015
Filing Date:
September 23, 2011
Export Citation:
Assignee:
IRobot Corporation
International Classes:
G05D1/02
Domestic Patent References:
| JP2006184976A | ||||
| JP201264131A |
Attorney, Agent or Firm:
Yasuhiko Murayama
Masatake Shiga
Takashi Watanabe
Shinya Mitsuhiro
Masatake Shiga
Takashi Watanabe
Shinya Mitsuhiro