METHOD AND APPARATUS FOR ACCELERATING SIMULTANEOUS LOCALIZATION AND MAPPING

Provided is a processor configured to compute elements affecting an optimization matrix in connection with a first measurement, among elements of a Hessian matrix, instead of generating a whole Hessian matrix for a map point and a camera pose based on all measurements, and accumulate the computed el...

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Bibliographic Details
Main Authors SEONG, Wooseok, CHOI, Seongmin, KIM, Kichul, LEE, Hongseok, KWON, Namseop, JEON, Myungjae, KIM, San
Format Patent
LanguageEnglish
Published 10.11.2022
Subjects
CALCULATING
COMPUTING
COUNTING
ELECTRIC DIGITAL DATA PROCESSING
PHYSICS
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Summary:Provided is a processor configured to compute elements affecting an optimization matrix in connection with a first measurement, among elements of a Hessian matrix, instead of generating a whole Hessian matrix for a map point and a camera pose based on all measurements, and accumulate the computed elements over the optimization matrix used to perform optimization operations in relation to states of the map point and the camera pose.
Bibliography:Application Number: US202117511692