公开(公告)号：US11410322B2

公开(公告)日：2022-08-09

申请号：US16920058

申请日：2020-07-02

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Miguel Cristobal ,  Panji Setiawan

IPC: G06T7/579 ,  G06T7/73

Abstract: A device and method perform Simultaneous Localization and Mapping (SLAM). The device includes at least one processor configured to perform the SLAM method, which includes the following operations. Preprocess, in a first processing stage, a received data sequence including multiple images recorded by a camera and sensor readings from multiple sensors in order to obtain a frame sequence. Each frame of the frame sequence includes a visual feature set related to one of the images at a determined time instance and sensor readings from that time instance. Sequentially process, in a second processing stage, each frame of the frame sequence based on the visual feature set and the sensor readings included in that frame in order to generate a sequence mapping graph. Merge, in a third processing stage, the sequence mapping graph with at least one other graph, in order to generate or update a full graph.