Patent ID: 9424647
Filing Date: 2016-08-23
CPC Classification: G01C,G06K,G06T

Claim Text:
1. An electronic computing system for performing navigation, the electronic computing system comprising an electronic processor and memory operable to implement a sliding-window inverse filter module, wherein the sliding-window inverse filter module is configured to: receive sensor measurements from a pre-processing module, wherein the sensor measurements comprise image data and inertial data for a device; transfer information, derived from the sensor measurements, from a first set of variables associated with a first window of time to a second set of variables associated with a second window of time, wherein the first and second windows consecutively overlap in time; and output, to a post-processing module, a state of the device based on the transferred information, wherein each window in the pair is associated with a corresponding first information matrix, and each first information matrix is for a plurality of first variables representing a position and/or orientation of at least one object proximate to the device and a plurality of second variables representing a state of the device at two or more points in time, and wherein transferring the information comprises: marginalizing at least a subset of the first variables associated with the first information matrix of the first window to obtain a second information matrix, which still maintains the association with the plurality of second variables; marginalizing a subset of the second variables associated with the second information matrix to obtain a third information matrix; and scaling the third information matrix to obtain a fourth information matrix, wherein the fourth information matrix is a summarized representation of the information about the state of the device and of the position and/or orientation of the objects proximate to the device at points in time when the first window and the second window in the pair overlap.