公开(公告)号：US11830218B2

公开(公告)日：2023-11-28

申请号：US17995195

申请日：2021-10-15

Applicant: SLAMcore Limited

Inventor： Pablo Alcantarilla ,  Alexandre Morgand ,  Maxime Boucher

IPC: G06T7/73 ,  G06V10/74 ,  G06V10/44 ,  G06T17/05

CPC classification number: G06T7/73 ,  G06T17/05 ,  G06V10/44 ,  G06V10/761 ,  G06T2207/20016 ,  G06V2201/07

Abstract: Provided are a mobile device (100) and computer-implemented method (700) for localisation in an existing map of a 3-D environment. For a first image frame, a first pose is localised based on visual features. For a second image frame, a pose is predicted (810) based on inertial measurements, combined with the pose of the first image frame. Based on the predicted pose, the method predicts (830) a set of landmarks that are likely to be visible. A second pose is then calculated (850), for the second image frame, based on matching (840) visual features of the second image frame to the set of landmarks.