KEYFRAME DETERMINATIONS FOR LOCALIZATION AND MAPPING

In one example in accordance with the present disclosure, a mobile device is described. The example mobile device includes an image sensor to capture an image frame. The example mobile device also includes a processor for performing simultaneous localization and mapping (SLAM). The example mobile de...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: CHENG, Yow-Wei, Hung, Ling-I
Format: Patent
Sprache:eng
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Beschreibung
Zusammenfassung:In one example in accordance with the present disclosure, a mobile device is described. The example mobile device includes an image sensor to capture an image frame. The example mobile device also includes a processor for performing simultaneous localization and mapping (SLAM). The example mobile device further includes a memory communicatively coupled to the processor and storing executable instructions that when executed cause the processor to: (1) determine a current location of the mobile device in a local map based on features extracted from the image frame; (2) perform a panoramic check to determine whether a threshold number of keyframes surrounding the current location have been captured; and (3) determine whether to add the image frame to a keyframe database for local mapping based on the panoramic check.