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

Claim 9:
10. The method of claim 1, further comprising identifying an object feature point by:
extracting a first set 2D features of an object from a first 360-degrees image in a keyrig selected from a subset of keyrigs;
extracting a second set of 2D features of the object from a second 360-degrees image in the keyrig selected;
receiving a position of an autonomous unit when the 360-degrees images were captured including longitude and latitude as input;
triangulating the first set of 2D features from the first 360-degrees image and the second set of 2D features from the 360-degrees second image to derive location for feature points of the object relative to the position of the autonomous unit; and
generating for at least one feature point of the object, a global position, including longitude, latitude, and height and adding the global position and feature descriptors of the object to the sparse 3D mapping of object feature points.