US 12,111,178 B2
Distributed device mapping
Peter Ondruska, London (GB); and Lukas Platinsky, London (GB)
Assigned to BLUE VISION LABS UK LIMITED, London (GB)
Filed by BLUE VISION LABS UK LIMITED, London (GB)
Filed on Dec. 9, 2022, as Appl. No. 18/078,745.
Application 18/078,745 is a continuation of application No. 17/066,147, filed on Oct. 8, 2020, granted, now 11,549,817.
Application 17/066,147 is a continuation of application No. 16/653,708, filed on Oct. 15, 2019, granted, now 10,845,200, issued on Nov. 24, 2020.
Application 16/653,708 is a continuation of application No. PCT/GB2018/051023, filed on Apr. 18, 2018.
Claims priority of provisional application 62/486,761, filed on Apr. 18, 2017.
Claims priority of application No. 1706129 (GB), filed on Apr. 18, 2017; and application No. 1804193 (GB), filed on Mar. 15, 2019.
Prior Publication US 2023/0175862 A1, Jun. 8, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G01C 21/00 (2006.01); G01C 11/06 (2006.01); G01C 21/12 (2006.01); G01S 17/89 (2020.01); G01S 19/47 (2010.01); G06T 7/73 (2017.01)
CPC G01C 21/3848 (2020.08) [G01C 11/06 (2013.01); G01C 21/12 (2013.01); G01C 21/3811 (2020.08); G01C 21/3841 (2020.08); G01S 17/89 (2013.01); G01S 19/47 (2013.01); G06T 7/74 (2017.01); G06T 2207/10012 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
determining, by a computing system, a sub-sample frequency based on an uncertainty value calculated from an uncertainty function based on a speed of a device, wherein the uncertainty value satisfies a threshold uncertainty value;
causing, by the computing system, the device to capture sensor data of an environment at the sub-sample frequency;
determining, by the computing system, an estimated position of a landmark in the environment based on triangulation from the sensor data captured at the sub-sample frequency;
determining, by the computing system, a global position of the landmark in a map associated with the environment; and
updating, by the computing system, the global position of the landmark in the map based on the estimated position of the landmark.