Patent Document ID: 9678210
Application ID: 14577440
Patent Status: 1

Claim One:
1. A motion determination system in a machine, comprising: one or more memories storing instructions; and a controller configured to execute the instructions to perform operations including: receiving, from a camera, a plurality of camera images representing an environment surrounding the machine; receiving, from a range sensor, range data representing the environment; identifying feature points in the plurality of camera images; associating the range data with the identified feature points to generate one or more visual-odometry outputs; determining a range matching error by computing an average error in a number of pixels between the feature points in the camera images and points in the camera images corresponding to the range data associated with the feature points; determining a plurality of figure of merits, wherein each of the plurality of figure of merits is associated with one of a plurality of parameters and is indicative of an accuracy of the visual-odometry outputs, the plurality of parameters affecting the generation of the one or more visual-odometry outputs and including at least the range matching error; calculating a combined figure of merit based on the plurality of figure of merits; and calculating an error estimate for the one or more visual-odometry outputs based on the combined figure of merit.