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 17):
The method according to  claim 15  further comprising:\n iteratively repeating, with the processor, until values for the plurality of camera poses of the third data structure converge and values for the plurality of surfels of the second data structure converge:\n correcting, with the processor, errors in the plurality of camera poses of the third data structure based on the first plurality of relative transformations; \n updating, with the processor, the plurality of surfels of the second data structure based on the plurality of camera poses after correcting errors in the plurality of camera poses; \n correcting, with the processor, errors in the plurality of camera poses of the third data structure based on the second plurality of relative transformations and the updated plurality of surfels of the second data structure.

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): 0.5862616940338217
- 35 USC 102 Novelty (BERT): 0.5008822397695698
- Combined Prediction Score: 0.5777237486073965
- Mean Citation Score: 231.235122
- Max Citation Score: 251.20837000000003
- Similarity Product: 193.7844810834748

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