US 11,886,189 B2
Control and navigation systems, pose optimization, mapping, and localization techniques
Konstantinos Karachalios, Bristol (GB); Dimitrios Nikolaidis, Bristol (GB); Kevin Driscoll-Lind, Bristol (GB); Colin Greatwood, Bristol (GB); Andrew Calway, Bristol (GB); and Oliver Moolan-Feroze, Bristol (GB)
Assigned to PERCEPTUAL ROBOTICS LIMITED, Bristol (GB)
Appl. No. 17/274,386
Filed by PERCEPTUAL ROBOTICS LIMITED, Bristol (GB)
PCT Filed Sep. 10, 2019, PCT No. PCT/GB2019/052521
§ 371(c)(1), (2) Date Mar. 8, 2021,
PCT Pub. No. WO2020/053573, PCT Pub. Date Mar. 19, 2020.
Claims priority of application No. 20180100410 (GR), filed on Sep. 10, 2018; application No. 1815864 (GB), filed on Sep. 28, 2018; application No. 20190100076 (GR), filed on Feb. 13, 2019; and application No. 1902475 (GB), filed on Feb. 22, 2019.
Prior Publication US 2022/0050461 A1, Feb. 17, 2022
Int. Cl. G05D 1/00 (2006.01); G06T 7/73 (2017.01); B64C 39/02 (2023.01); G06V 10/82 (2022.01); B64U 101/30 (2023.01)
CPC G05D 1/0094 (2013.01) [B64C 39/024 (2013.01); G05D 1/0088 (2013.01); G06T 7/73 (2017.01); G06V 10/82 (2022.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01)] 15 Claims
OG exemplary drawing
 
1. A pose optimization process to optimize an approximate pose of a sensor with respect to an object using sensor data, the process comprising:
receiving a model of an object;
receiving sensor data relating to at least part of the object, the sensor data being in a sensor frame of reference, the sensor data being associated with pose data representing a pose of a sensor used to generate the sensor data;
projecting at least part of the model onto the sensor frame of reference;
identifying corresponding feature points and/or feature lines between the model and sensor data in the sensor frame of reference, wherein identifying corresponding feature points and/or feature lines between the model and sensor data in the sensor frame of reference includes defining a search region around a feature point identified in the model and searching the search region; and
optimizing the pose data based on the identified correspondence, using a location difference in the corresponding feature points and/or feature lines between the model and the sensor data in the sensor frame of reference.