PATENT CLAIM ANALYSIS

Application Number: 16036979
Application Type: Utility
Filing Date: 2018-07
Publication Date: 2019-01
Patent Classification: ["345", "419000"]

Abstract:
A novel map representation called Probabilistic Surfel Map (PSM) for dense visual SLAM is disclosed. The PSM maintains a globally consistent map with both photometric and geometric uncertainties encoded in order to address inconsistency and sensor noise. A key aspect of the visual SLAM method disclosed herein is the proper modeling and updating of the photometric and geometric uncertainties encoded in the PSM. Strategies for applying the PSM for improving both the front-end pose estimation and the back-end optimization are disclosed. Moreover, the PSM enables generation of a high quality dense point cloud with high accuracy.

Claim (Index 1):
A method for visual simultaneous localization and mapping, the method comprising:\n storing, in a memory, a first data structure having a plurality of surfels representing a 3D environment, each surfel having a 3D position, an uncertainty of the 3D position, an intensity, an uncertainty of the intensity, and a surface normal, the 3D position of each surfel being in a first coordinate space; receiving, with a processor, a first image of the 3D environment from a camera, the first image having an array of pixels, each pixel having an intensity and a depth; estimating, with the processor, a first camera pose from which the camera captured the first image based on the first image and the first data structure; and updating, with the processor, at least one surfel in the plurality of surfels of the first data structure based on the first image and the first camera pose.

Metadata:
- Claim Count in Document: 1.0
- Percentile: 95.0
- Lexical Diversity: 1.625
- Patent Class: 345.0
- Transitional Phrase Type: open
- Component Type: 1
- Foreign Priority: False
- Related Applications: ['15913800', '14271971', '15470595', '14151776', '13858040']

Analysis Scores:
- 35 USC 101 Eligibility (BERT): 0.585267230758445
- 35 USC 102 Novelty (BERT): 0.5055440591561703
- Combined Prediction Score: 0.5772949135982175
- Mean Citation Score: 231.235122
- Max Citation Score: 251.20837000000003
- Similarity Product: 181.29554157717112

Labels:
- Claim Label 101: 1
- Claim Label 102: 1
- Claim Label 103: 1
- Claim Label 112: 1
- Combined Label: 1
- Label 101 Adjusted: 1

Dataset: test