公开(公告)号：US11010948B2

公开(公告)日：2021-05-18

申请号：US16485140

申请日：2018-02-09

Applicant: GOOGLE LLC

Inventor： Rahul Sukthankar ,  Saurabh Gupta ,  James Christopher Davidson ,  Sergey Vladimir Levine ,  Jitendra Malik

IPC: G06T11/60 ,  G01C21/32 ,  G06K9/00 ,  G06T3/00 ,  G06T7/20

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for navigation using visual inputs. One of the systems includes a mapping subsystem configured to, at each time step of a plurality of time steps, generate a characterization of an environment from an image of the environment at the time step, wherein the characterization comprises an environment map identifying locations in the environment having a particular characteristic, and wherein generating the characterization comprises, for each time step: obtaining the image of the environment at the time step, processing the image to generate a first initial characterization for the time step, obtaining a final characterization for a previous time step, processing the characterization for the previous time step to generate a second initial characterization for the time step, and combining the first initial characterization and the second initial characterization to generate a final characterization for the time step.