Patent ID: 11948369
Assignee: TRIFO, INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H  B | IPC B  G  H

Claim 18:
19. A non-transitory computer readable storage medium impressed with computer program instructions to guide a mobile device, which instructions, when executed on a processor, implement a method comprising:
reviewing one or more sets of image data received, wherein image data includes feature points and pose information, and wherein the pose information includes a location and a view of a camera that captured the image data, to select content to include in a point cloud of features, based upon comparisons of content with content of other selected sets of image data subject to one or more thresholds;
for selected sets of image data, (a) triangulating new feature points using feature points of sets of image data previously added to the point cloud of features to obtain feature points in a coordinate system of the mobile device, and (b) aligning coordinates of the feature points in the point cloud of features to a coordinate system having a z-axis aligned with gravity;
creating a multilayered hybrid point grid from feature points selected for the point cloud of features, including at least one layer of a multilayered 2D occupancy grid; and
using the at least one layer of a multilayered 2D occupancy grid to plan a path of travel to a location.