Patent ID: 9286810
Filing Date: 2016-03-15
CPC Classification: G05D,G06F,G06K,G09B

Claim Text:
1. A method for localization and mapping in a system comprising a processor and a camera, wherein the processor is configured to generate a graph with a plurality of pose nodes, a plurality of landmark nodes, and a plurality of edges, wherein: (i) a pose node comprises a pose of a robot; (ii) a landmark node comprises a pose of the robot, a landmark identifier corresponding to one or more objects, and an estimate of the location of each of the one or more objects; and (iii) at least one of the plurality of edges comprises a rigid transformation relating position and orientation of the robot at two locations; the method comprising: updating the graph if the number of pose nodes in the graph exceeds a first threshold, comprising: removing at least one edge of said plurality of edges present in the graph if the total number of edges in the graph exceeds a second threshold; and updating an estimate of a location of the remaining pose nodes based at least in part on the plurality of edges present in the graph.