Patent ID: 9110470
Filing Date: 2015-08-18
Classification: G01C,G05D,G06T,Y10S

Abstract:
1. A method of localizing a mobile device in a multiple-particle autonomous localization and mapping system using an electronic device, the method comprising: performing, using an electronic device, autonomous localization and mapping with a plurality of particles, wherein a particle includes a device pose and a map, wherein the map includes at least one landmark; calculating, using the electronic device, an updated device pose estimate for a particle, wherein the technique used to calculate the updated device pose estimate is selected according to the type associated with the particle; and using dead reckoning data to estimate a change in pose from a prior update to the particles using the electronic device; wherein calculating the updated device pose estimate for the particle further comprises using the change in pose estimated from dead reckoning data and using a relative pose to calculate the updated device pose estimate.