Patent ID: 11886491
Assignee: UNIVERSITY OF SEOUL INDUSTRY COOPERATION FOUNDATION
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 10:
11. A method of accelerating simultaneous localization and mapping (SLAM) performed by an electronic device, the method comprising:
receiving, from an image database, a map image in which a position of the electronic device is localized;
receiving, from a factor graph database of the electronic device, inertial measurement unit (IMU) sensor data;
configuring 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; and
for each of the plurality of row blocks of the matrix, performing a multiplication of a row block and a vector, and sequentially outputting a result of the multiplication of the row block of the plurality of row blocks and the vector as first data and simultaneously shifting 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.