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公开(公告)号：US11803192B2
公开(公告)日：2023-10-31
申请号：US17900622
申请日：2022-08-31
申请人： NVIDIA Corporation
发明人： Michael Grabner , Jeremy Furtek , David Nister
CPC分类号： G05D1/0253 , G05D1/0251 , G06T7/246 , G06T7/285 , G06T7/35 , G06T2207/10021 , G06T2207/10028 , G06T2207/30252
摘要： 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.
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公开(公告)号：US20220413509A1
公开(公告)日：2022-12-29
申请号：US17900622
申请日：2022-08-31
申请人： NVIDIA Corporation
发明人： Michael Grabner , Jeremy Furtek , David Nister
摘要： 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.
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公开(公告)号：US11435756B2
公开(公告)日：2022-09-06
申请号：US17108965
申请日：2020-12-01
申请人： NVIDIA Corporation
发明人： Michael Grabner , Jeremy Furtek , David Nister
摘要： 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.
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公开(公告)号：US20210165418A1
公开(公告)日：2021-06-03
申请号：US17108965
申请日：2020-12-01
申请人： NVIDIA Corporation
发明人： Michael Grabner , Jeremy Furtek , David Nister
摘要： 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.
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