Invention Grant
- Patent Title: Dense visual SLAM with probabilistic surfel map
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Application No.: US16036979Application Date: 2018-07-17
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Publication No.: US10553026B2Publication Date: 2020-02-04
- Inventor: Zhixin Yan , Mao Ye , Liu Ren
- Applicant: Robert Bosch GmbH
- Applicant Address: DE Stuttgart
- Assignee: Robert Bosch GmbH
- Current Assignee: Robert Bosch GmbH
- Current Assignee Address: DE Stuttgart
- Agency: Maginot, Moore & Beck LLP
- Main IPC: G06T17/20
- IPC: G06T17/20 ; G06T7/586 ; G06T7/579 ; G06T7/33 ; G06T7/70

Abstract:
A novel map representation called Probabilistic Surfel Map (PSM) for dense visual SLAM is disclosed. The PSM maintains a globally consistent map with both photometric and geometric uncertainties encoded in order to address inconsistency and sensor noise. A key aspect of the visual SLAM method disclosed herein is the proper modeling and updating of the photometric and geometric uncertainties encoded in the PSM. Strategies for applying the PSM for improving both the front-end pose estimation and the back-end optimization are disclosed. Moreover, the PSM enables generation of a high quality dense point cloud with high accuracy.
Public/Granted literature
- US20190026943A1 DENSE VISUAL SLAM WITH PROBABILISTIC SURFEL MAP Public/Granted day:2019-01-24
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