公开(公告)号：US20240212204A1

公开(公告)日：2024-06-27

申请号：US18568676

申请日：2021-08-31

Applicant: Intel Corporation

Inventor： Yuxin TIAN ,  Xuesong SHI ,  Peng WANG ,  Yujie WANG

IPC: G06T7/73 ,  G06T7/11

CPC classification number: G06T7/73 ,  G06T7/11 ,  G06T2207/20021 ,  G06T2207/20072

Abstract: The disclosure provides techniques for map optimization for a localization and mapping system. The map optimization method includes segmenting, based on a preset segmentation condition, a trajectory tracked by the localization and mapping system to obtain a plurality of segments of the trajectory, each segment being partitioned into a head part, an interior part and a tail part; performing a global optimization process based on frames in the head and tail parts of each segment to obtain optimized mapping results for the frames in the head and tail parts of the segment; estimating optimized mapping results for frames in the interior part of each segment based on the optimized mapping results for the frames in the head and tail parts of the segment; and updating a map built by the localization and mapping system according to the optimized mapping results for the frames in each segment.

公开(公告)号：US20240095957A1

公开(公告)日：2024-03-21

申请号：US18254182

申请日：2020-12-25

Applicant: Intel Corporation

Inventor： Xuesong SHI ,  Yujie WANG ,  Zhigang WANG ,  Peng WANG ,  Robert WATTS

IPC: G06T7/80 ,  G06T7/33 ,  G06T7/73

CPC classification number: G06T7/80 ,  G06T7/33 ,  G06T7/73 ,  G06T2207/30208 ,  G06T2207/30232

Abstract: The disclosure provides techniques for registering a camera into a map via a robot. A method for registering a camera into a map may include: collecting an observation of a calibration marker from an image captured by the camera, the calibration maker being attached to a robot capable of moving in a view of the camera; calculating, for the observation of the calibration marker, a transform T (camera, marker) between a camera frame of the camera and a marker frame of the calibration marker; obtaining, for the observation of the calibration marker, a transform T (world, robot) between a world frame of the map and a robot frame of the robot; and performing, when more than a predetermined number of observations of the calibration marker are collected during movement of the robot, a calibration process to calculate a transform T(world, camera) between the world frame and the camera frame based on the transform T (camera, marker) and the transform T(world, robot) for each observation of the calibration marker.