Patent SG-11201908190Q-A (SG)
Title: Distributed device mapping
Inventor: ONDRUSKA PETER
IPC: G01C21/12
Filed: 2018-04-18
Abstract: AAARelative landmark poses t w uctre mc fro „o n - i n F. Relative image poses Visual Odometry images Relative I mimed, poses W O 18/ 193 25 4 Al Structure rem Krum NI Lon Visual Odense, Relative image poses images Figure 2 (12) INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau (43) International Publication Date 25 October 2018 (25.10.2018) WIP0 I PCT omit VIII °nolo Him oolol 100IIII 1111101 ow (10) International Publication Number WO 2018/193254 Al A 1. mere* frames Pose Constrains Absolute Refinement Optimiser 'meg° poses • Global snap Constralns ==, Relative landmark Posies Landmarks (51) International Patent Classification: GO1C 11/06 (2006.01) GO6T 7/70 (2017.01) GO1C 21/12 (2006.01) G06T 7/246 (2017.01) (21) International Application Number: PCT/GB2018/051023 (22) International Filing Date: 18 April 2018 (18.04.2018) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 1706129.2 18 April 2017 (18.04.2017) GB 62/486,761 18 April 2017 (18.04.2017) US 1804193.9 15 March 2018 (15.03.2018) GB (71) Applicant: BLUE VISION LABS UK LIMITED [GB/GB]; 1 Kingsland Road, London Greater London E2 8AA (GB). (72) Inventors: ONDRUSKA, Peter; Flat 3, 8-13 New Inn Street, London Greater London EC2A 3PY (GB). PLATINSKY, Lukas; Flat 3, 8-13 New Inn Street, London Greater London EC2A 3PY (GB). (74) Agent: BARNES, Philip; THE IP ASSET PART- NERSHIP LIMITED, Prama House, 267 Banbury Road, Oxford Oxfordshire OX2 7HT (GB). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). (54) Title: DISTRIBUTED DEVICE MAPPING (57) : The present invention relates to the efficient use of both local and remote computational resources and communication bandwidth to provide distributed environment mapping using a plurality of mobile sensor-equipped devices. According to a first aspect, there is provided a method of determining a global position of one or more landmarks on a global map, the method comprising the steps of determining one Relative or more differences between sequential sensor data captured by one or more moving image poses Localiser devices; determining one or more relative localisation landmark positions with respect 4 A to the one or more moving devices; determining relative device poses based one or more differences between sequential sensor data relative to the one or more relative localisation landmark positions; and determining a correlation between each device pose and the one or more relative localisation landmarks positions. [Continued on next page] WO 2018/193254 Al MIDEDIMOMOIDEIREEMOMOMMOIDENHEMOVOIMIE Declarations under Rule 4.17: as to the identity of the inventor (Rule 4.17(i)) as to applicant's entitlement to apply for and be granted a patent (Rule 4.17(ii)) as to the applicant's entitlement to claim the priority of the earlier application (Rule 4.17(iii)) of inventorship (Rule 4.17(iv)) Published: with international search report (Art. 21(3)) before the expiration of the time limit for amending the claims and to be republished in the event of receipt of amendments (Rule 48.2(h))