公开(公告)号：US11803192B2

公开(公告)日：2023-10-31

申请号：US17900622

申请日：2022-08-31

Applicant: NVIDIA Corporation

Inventor： Michael Grabner ,  Jeremy Furtek ,  David Nister

IPC: G06D1/02 ,  G05D1/02 ,  G06T7/246 ,  G06T7/35 ,  G06T7/285

CPC classification number: G05D1/0253 ,  G05D1/0251 ,  G06T7/246 ,  G06T7/285 ,  G06T7/35 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: Systems and methods for performing visual odometry more rapidly. Pairs of representations from sensor data (such as images from one or more cameras) are selected, and features common to both representations of the pair are identified. Portions of bundle adjustment matrices that correspond to the pair are updated using the common features. These updates are maintained in register memory until all portions of the matrices that correspond to the pair are updated. By selecting only common features of one particular pair of representations, updated matrix values may be kept in registers. Accordingly, matrix updates for each common feature may be collectively saved with a single write of the registers to other memory. In this manner, fewer write operations are performed from register memory to other memory, thus reducing the time required to update bundle adjustment matrices and thus speeding the bundle adjustment process.

公开(公告)号：US20220413509A1

公开(公告)日：2022-12-29

申请号：US17900622

申请日：2022-08-31

Applicant: NVIDIA Corporation

Inventor： Michael Grabner ,  Jeremy Furtek ,  David Nister

IPC: G05D1/02 ,  G06T7/246 ,  G06T7/35 ,  G06T7/285

Abstract: Systems and methods for performing visual odometry more rapidly. Pairs of representations from sensor data (such as images from one or more cameras) are selected, and features common to both representations of the pair are identified. Portions of bundle adjustment matrices that correspond to the pair are updated using the common features. These updates are maintained in register memory until all portions of the matrices that correspond to the pair are updated. By selecting only common features of one particular pair of representations, updated matrix values may be kept in registers. Accordingly, matrix updates for each common feature may be collectively saved with a single write of the registers to other memory. In this manner, fewer write operations are performed from register memory to other memory, thus reducing the time required to update bundle adjustment matrices and thus speeding the bundle adjustment process.

公开(公告)号：US11435756B2

公开(公告)日：2022-09-06

申请号：US17108965

申请日：2020-12-01

Applicant: NVIDIA Corporation

Inventor： Michael Grabner ,  Jeremy Furtek ,  David Nister

IPC: G05D1/02 ,  G06T7/246 ,  G06T7/35 ,  G06T7/285

Abstract: Systems and methods for performing visual odometry more rapidly. Pairs of representations from sensor data (such as images from one or more cameras) are selected, and features common to both representations of the pair are identified. Portions of bundle adjustment matrices that correspond to the pair are updated using the common features. These updates are maintained in register memory until all portions of the matrices that correspond to the pair are updated. By selecting only common features of one particular pair of representations, updated matrix values may be kept in registers. Accordingly, matrix updates for each common feature may be collectively saved with a single write of the registers to other memory. In this manner, fewer write operations are performed from register memory to other memory, thus reducing the time required to update bundle adjustment matrices and thus speeding the bundle adjustment process.

公开(公告)号：US20210165418A1

公开(公告)日：2021-06-03

申请号：US17108965

申请日：2020-12-01

Applicant: NVIDIA Corporation

Inventor： Michael Grabner ,  Jeremy Furtek ,  David Nister

IPC: G05D1/02 ,  G06T7/246 ,  G06T7/285 ,  G06T7/35

Abstract: Systems and methods for performing visual odometry more rapidly. Pairs of representations from sensor data (such as images from one or more cameras) are selected, and features common to both representations of the pair are identified. Portions of bundle adjustment matrices that correspond to the pair are updated using the common features. These updates are maintained in register memory until all portions of the matrices that correspond to the pair are updated. By selecting only common features of one particular pair of representations, updated matrix values may be kept in registers. Accordingly, matrix updates for each common feature may be collectively saved with a single write of the registers to other memory. In this manner, fewer write operations are performed from register memory to other memory, thus reducing the time required to update bundle adjustment matrices and thus speeding the bundle adjustment process.