Patent ID: 9658070
Date: 2017-05-23
CPC Classifications: G01C,G05D,G06K,G06T

Claim:
1. A vision-aided inertial navigation system comprising: at least one image source to produce image data along a trajectory of the vision-aided inertial navigation system (VINS) within an environment, wherein the image data contains a plurality of features observed within the environment at a plurality of poses of the VINS along the trajectory; an inertial measurement unit (IMU) to produce IMU data indicative of motion of the vision-aided inertial navigation system; and a hardware-based processing unit comprising an estimator that determines, based on the image data and the IMU data, estimates for at least a position and orientation of the vision-aided inertial navigation system for a plurality of poses of the VINS along the trajectory, wherein the estimator determines the estimates by: