公开(公告)号：US11313684B2

公开(公告)日：2022-04-26

申请号：US16089322

申请日：2017-03-28

Applicant: SRI INTERNATIONAL

Inventor： Han-Pang Chiu ,  Supun Samarasekera ,  Rakesh Kumar ,  Mikhail Sizintsev ,  Xun Zhou ,  Philip Miller ,  Glenn Murray

IPC: G01C21/32 ,  G01C21/34 ,  G06V10/75 ,  G06V20/10 ,  G06K9/62 ,  H04W4/021

Abstract: During GPS-denied/restricted navigation, images proximate a platform device are captured using a camera, and corresponding motion measurements of the platform device are captured using an IMU device. Features of a current frame of the images captured are extracted. Extracted features are matched and feature information between consecutive frames is tracked. The extracted features are compared to previously stored, geo-referenced visual features from a plurality of platform devices. If one of the extracted features does not match a geo-referenced visual feature, a pose is determined for the platform device using IMU measurements propagated from a previous pose and relative motion information between consecutive frames, which is determined using the tracked feature information. If at least one of the extracted features matches a geo-referenced visual feature, a pose is determined for the platform device using location information associated with the matched, geo-referenced visual feature and relative motion information between consecutive frames.