公开(公告)号：US20210150755A1

公开(公告)日：2021-05-20

申请号：US17093944

申请日：2020-11-10

Applicant: Samsung Electronics Co., Ltd.

Inventor： Tianhao GAO ,  Xiaolong SHI ,  Xiongfeng PENG ,  Kuan MA ,  Hongseok LEE ,  Myungjae JEON ,  Qiang WANG ,  Yuntae KIM ,  Zhihua LIU

IPC: G06T7/73 ,  G06T7/55

Abstract: A simultaneous localization and mapping device is provided. The device includes an image obtaining device configured to capture color images and depth images of a surrounding environment; an initial pose estimating device configured to estimate an initial pose based on the color images and the depth images; a map constructing device configured to construct a three-dimensional map based on the depth images and the color images; and a pose determining device configured to determine a final pose based on the initial pose and the three-dimensional map.