Patent ID: 11900536
Assignee: TRIFO, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 14:
15. A system including:
two or more mobile autonomous units, including a first autonomous unit and a second autonomous unit, each having a mobile platform and disposed thereon:
a visual sensor comprising cameras providing capturing images including at least two frames, thereby providing a 360-degrees view about a centerline of the mobile platform; and
at least one of:
multi-axis inertial measuring unit (IMU) sensor capable of providing measurement of at least acceleration using one or more accelerometers; and
a global positioning system (GPS) receiver; and

a map server, including a processor and a coupled memory storing instructions for building 3D maps from a surrounding scenery, which instructions when executed by the processor perform actions including:
receiving from a first source, first visual information of the surrounding scenery and a position where the first visual information was captured;
classifying at least one of one or more objects from the first visual information of the surrounding scenery into a set of moving objects and a set of non-moving objects;
determining a sparse 3D mapping of object feature points taken from the first visual information of the surrounding scenery from the set of non-moving objects; and
building a first 3D map of object feature points from the sparse 3D mapping of object feature points.