公开(公告)号：US12124270B2

公开(公告)日：2024-10-22

申请号：US17265455

申请日：2018-09-15

Applicant: QUALCOMM Incorporated

Inventor： Jun Liu ,  Zixiang Wang ,  Weizhang Luo ,  Mei Wu Fang ,  Tiequan Luo

IPC: G05D1/00 ,  G06T7/20 ,  G06T7/70

CPC classification number: G05D1/0253 ,  G06T7/20 ,  G06T7/70

Abstract: Various embodiments include methods for improving navigation by a processor of a robotic device equipped with an image sensor and an optical flow sensor. The robotic device may be configured to capture or receive two image frames from the image sensor, generate a homograph computation based on the image frames, receive optical flow sensor data from an optical flow sensor, and determine a scale estimation value based on the homograph computation and the optical flow sensor data. The robotic device may determine the robotic device pose (or the pose of the image sensor) based on the scale estimation value.