公开(公告)号：US20240020920A1

公开(公告)日：2024-01-18

申请号：US18352035

申请日：2023-07-13

Applicant: Snap Inc.

Inventor： Marwan Aljubeh ,  Nursultan Jubatyrov ,  Eric Nersesian ,  Supannee Tanathong

IPC: G06T17/00 ,  G06T7/73 ,  G06T19/20

CPC classification number: G06T17/00 ,  G06T7/74 ,  G06T19/20 ,  G06T2200/24 ,  G06T2219/2004 ,  G06T2207/10028 ,  G06T2207/20092 ,  G06T2219/2016

Abstract: A method for generating an updated localizer map of a reference scene is provided. The method may include: acquiring a preliminary localizer map of the reference scene, the preliminary localizer map including a preliminary frame that each is associated with a set of preliminary data points; capturing a plurality of new data points on the reference scene; determining poses of the capture device related to the capture of the plurality of new data points; creating at least one new frame; selecting one or more target frames from the preliminary frame and the new frame; and generating the updated localizer map based on the one or more target frames.