Patent ID: 9412173
Filing Date: 2016-08-09
CPC Classification: G06T

Claim Text:
1. A method for mapping an environment comprising: moving a sensor along a path from a start location (P sampling said sequence of estimated sensor locations to provide a pose graph (P) comprising a linked sequence of nodes, each corresponding to a respective estimated sensor location, for each node of the pose graph (P), acquiring a respective cloud slice (C) comprising at least of portion of said point cloud for said sampled sensor location; determining a drift between an actual sensor location (P providing a corrected pose graph (P′) indicating a required transformation for each node of the pose graph (P) between said actual sensor location (P sampling said sequence of estimated sensor locations to provide a deformation graph (N) comprising a linked sequence of nodes, each corresponding to respective estimated sensor locations along said path, for at least a plurality of said vertices in said cloud slices, identifying a closest set of K deformation graph nodes and determining a respective blending function based on the respective distances of said identified graph nodes to a vertex; determining transformation coefficients for each node of said deformation graph as a function of the required transformation for each node of the pose graph (P) to compensate for said determined drift; and transforming tuple coordinates for a vertex to compensate for sensor drift as a function of said blending function and said transformation coefficients for said K deformation graph nodes closest to said vertex.