Patent Document ID: 9148650
Application ID: 13858040
Patent Status: 1

Claim One:
1. A method for multithreaded visual odometry, comprising acquiring images with a single camera on-board a vehicle; using 2D-3D correspondences for continuous pose estimation with a pose local bundle adjustment (LBA) system including a feature matching engine using three or more parallel CPU threads with pose estimation across all threads, followed by local bundle adjustment in the primary thread; using a local bundle cache including a frame cache and a match cache, wherein the frame cache stores feature locations, descriptors and camera poses from most recent frames and images, wherein the match cache comprises a list of tables, one element corresponding to each frame with a key into the table being an identity of a 3D point visible in the frame and stored entries are identities of corresponding 2D features in the frames; combining the pose estimation with 2D-2D epipolar search to replenish 3D points; and generating structure-from-motion (SFM).