US 12,067,765 B2
Distributed computing network to perform simultaneous localization and mapping
Mengda Yang, Sunnyvale, CA (US); and Ruimeng Shi, Beijing (CN)
Assigned to Pony AI Inc., Grand Cayman (KY)
Filed by Pony AI Inc., Grand Cayman (KY)
Filed on Mar. 9, 2021, as Appl. No. 17/196,761.
Prior Publication US 2022/0292290 A1, Sep. 15, 2022
Int. Cl. G06K 9/00 (2022.01); G06F 18/214 (2023.01); G06K 9/62 (2022.01); G06T 1/20 (2006.01); G06T 7/73 (2017.01); G06V 10/94 (2022.01); G06V 20/56 (2022.01)
CPC G06V 10/95 (2022.01) [G06F 18/214 (2023.01); G06T 1/20 (2013.01); G06T 7/73 (2017.01); G06V 20/56 (2022.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
receiving frames of point clouds at a processing node of a distributed computing platform;
determining, from the frames, first frames in which first distances among the first frames exceed a given threshold;
determining, as key frames, the first frames and a second subset of second frames, wherein:
each of the second frames comprise at least a common feature as present in the first frames, the common feature in the second frames being at a higher resolution compared to that in the first frames; and
allocating tasks of processing the key frames to processing subnodes based at least in part on estimated processing demands of the key frames and processing capabilities of each of the processing subnodes.