公开(公告)号：US20170357858A1

公开(公告)日：2017-12-14

申请号：US15178505

申请日：2016-06-09

Applicant: QUALCOMM Incorporated

Inventor： Paulo Mendonca ,  Christopher Brunner ,  Arvind Ramanandan ,  Murali Ramaswamy Chari ,  Dheeraj Ahuja

IPC: G06K9/00 ,  G06T7/20 ,  G06K9/62 ,  G01C21/00 ,  G01C21/16 ,  G01S19/42

CPC classification number: G06K9/00791 ,  G01C21/00 ,  G01C21/165 ,  G01S19/42 ,  G06K9/00 ,  G06K9/00664 ,  G06K9/6201 ,  G06K9/6211 ,  G06T7/20 ,  G06T7/30 ,  G06T2200/04 ,  G06T2207/30244

Abstract: A first map comprising local features and 3D locations of the local features is generated, the local features comprising visible features in a current image and a corresponding set of covisible features. A second map comprising prior features and 3D locations of the prior features may be determined, where each prior feature: was first imaged at a time prior to the first imaging of any of the local features, and lies within a threshold distance of at least one local feature. A first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map is determined by comparing the first and second maps, where each local feature in the first subset corresponds to a distinct prior feature in the second subset. A transformation mapping a subset of local features to a subset of prior features is determined.