Patent Document ID: 20050182518
Application ID: 11055210
Patent Status: 0

Claim One:
1. A method in a visual simultaneous localization and mapping (VSLAM) system of updating a map in a robust manner, the method comprising: using visual features to recognize landmarks in an environment; maintaining the map of the visually-recognized landmarks, where the map comprises landmark poses associated with landmarks; receiving an indication that a new landmark L has been observed; retrieving dead reckoning measurements observed from a prior pose; receiving an indication of whether the dead reckoning measurements are trustworthy; at least partially in response to determining that the dead reckoning measurements are trustworthy, then performing: using the dead reckoning measurements and the prior pose to compute a landmark pose for the new landmark L; associating the computed landmark pose with the new landmark L; and storing the landmark pose and the association to the new landmark L to update the map; and, at least partially in response to determining that the dead reckoning measurements are not trustworthy, then not updating the map with the new landmark L.