Title:
FEATURE SPATIAL DISTRIBUTION MANAGEMENT FOR SIMULTANEOUS LOCALIZATION AND MAPPING
Document Type and Number:
WIPO Patent Application WO/2021/160071
Kind Code:
A1
Abstract:
A method of managing feature spatial distribution for localization and mapping may include capturing a 2D image of a 3D space. The 2D image may include a plurality of tracked feature points. The method may further include: selecting, from the plurality of feature points, a first subset of feature points evenly distributed in the 2D image; and retrieving, from a point cloud, coordinates of the first subset of feature points. The coordinates define locations of the first subset of feature points in a global coordinate map of the 3D space. The method may further include: selecting, from the first subset of feature points, a second subset of feature points evenly distributed in the 3D space; optimizing the coordinates of the second subset of feature points based on a camera pose; and updating the coordinates of the second subset of feature points in the point cloud.
Inventors:
XIA YOUJIE (US)
Application Number:
PCT/CN2021/075851
Publication Date:
August 19, 2021
Filing Date:
February 07, 2021
Export Citation:
Assignee:
GUANGDONG OPPO MOBILE TELECOMMUNICATIONS CORP LTD (CN)
International Classes:
G06T7/33; G06T7/73; G06T19/20
Foreign References:
| US10354396B1 | 2019-07-16 | |||
| US20140241614A1 | 2014-08-28 | |||
| US20170178355A1 | 2017-06-22 | |||
| CN108447094A | 2018-08-24 | |||
| CN108010123A | 2018-05-08 |
Attorney, Agent or Firm:
SCIHEAD IP LAW FIRM (CN)
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