公开(公告)号：US12183032B2

公开(公告)日：2024-12-31

申请号：US17681179

申请日：2022-02-25

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Xiongfeng Peng ,  Zhihua Liu ,  Qiang Wang ,  Yuntae Kim ,  Hongseok Lee

IPC: G06T7/73 ,  G06T7/246

Abstract: Provided is a method of simultaneous localization and mapping (SLAM), the method including obtaining a structure of a current image frame, obtaining a structure re-identification constraint based on the structure of the current image frame, and obtaining a SLAM result based on the structure re-identification constraint. By introducing the structure re-identification constraint in a bundle adjustment process to obtain the SLAM result, error accumulation may be more easily controlled, and accuracy and robustness in obtaining the SLAM result may be improved.

公开(公告)号：US11636618B2

公开(公告)日：2023-04-25

申请号：US17093944

申请日：2020-11-10

Applicant: Samsung Electronics Co., Ltd.

Inventor： Tianhao Gao ,  Xiaolong Shi ,  Xiongfeng Peng ,  Kuan Ma ,  Hongseok Lee ,  Myungjae Jeon ,  Qiang Wang ,  Yuntae Kim ,  Zhihua Liu

IPC: G06T7/73 ,  G06T7/55

Abstract: A simultaneous localization and mapping device is provided. The device includes an image obtaining device configured to capture color images and depth images of a surrounding environment; an initial pose estimating device configured to estimate an initial pose based on the color images and the depth images; a map constructing device configured to construct a three-dimensional map based on the depth images and the color images; and a pose determining device configured to determine a final pose based on the initial pose and the three-dimensional map.