CPC G06F 16/56 (2019.01) [G06F 5/01 (2013.01); G06F 7/50 (2013.01); G06F 7/575 (2013.01); G06F 7/78 (2013.01); G06F 17/16 (2013.01)] | 20 Claims |
1. An electronic device to perform a simultaneous localization and mapping (SLAM) operation, the electronic device comprising:
an image database;
a factor graph database; and
a processor comprising:
a pre-processing unit configured to:
receive, from the image database, a map image in which a position of the electronic device is localized;
receive, from the factor graph database, inertial measurement unit (IMU) sensor data; and
configure a matrix according to fifteen factors, said fifteen factors being obtained by calculating six DoF-related components of the electronic device, said matrix defined by a plurality of row blocks divided in submatrices of 15×15, wherein each of the submatrices has a sub-submatrix of 6×6 related to a position and a rotation among the six DoF-related components and a remaining part including triaxial components for the IMU sensor data;
a multiplier unit configured to, for each of the plurality of row blocks of the matrix, perform a multiplication of a row block and a vector, and sequentially output a result of the multiplication of the row block of the plurality of row blocks and the vector as first data; and
a post-processing unit configured to simultaneously shift second data which is a result of a multiplication of each following row block of the plurality of row blocks and the vector to a location in which the first data has been stored.
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