US 12,437,439 B2
Apparatus for accelerating simultaneous localization and mapping and electronic device including the same
Myungjae Jeon, Yongin-si (KR); Kichul Kim, Seoul (KR); Namseop Kwon, Suwon-si (KR); Yongkyu Kim, Hwaseong-si (KR); and Hongseok Lee, Seoul (KR)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR); and University of Seoul Industry Cooperation Foundation, Seoul (KR)
Filed by SAMSUNG ELECTRONICS CO., LTD., Suwon-si (KR); and University of Seoul Industry Cooperation Foundation, Seoul (KR)
Filed on Jul. 19, 2022, as Appl. No. 17/868,453.
Claims priority of application No. 10-2021-0149020 (KR), filed on Nov. 2, 2021.
Prior Publication US 2023/0145875 A1, May 11, 2023
Int. Cl. G06T 7/73 (2017.01); G06T 19/00 (2011.01)
CPC G06T 7/73 (2017.01) [G06T 19/006 (2013.01)] 22 Claims
OG exemplary drawing
 
1. An apparatus for accelerating simultaneous localization and mapping (SLAM), the apparatus comprising:
a SLAM processor comprising: a front-end processor configured to track, in a second frame subsequent to a first frame, a position of a first feature, among a plurality of features extracted from the first frame; and
a back-end processor configured to:
obtain a first measurement corresponding to a map point and a camera pose of the first feature based on the position of the first feature in the second frame tracked by the front-end processor;
selectively compute one or more first elements affecting an optimization matrix related to the first measurement, among a plurality of elements of a Hessian matrix regarding the map point and the camera pose, and not compute one or more second elements among the plurality of elements of the Hessian matrix; and
accumulate the computed one or more elements in the optimization matrix used to perform an optimization operation with respect to one or more states of the map point and the camera pose.