{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-11521332","patent":{"patent_number":"US-11521332","title":"Method and apparatus for optimization of a monocular visual-inertial localization system","assignee":null,"inventors":[],"filing_date":"2021-06-29T00:00:00.000Z","publication_date":"2022-12-06T00:00:00.000Z","cpc_codes":["G06T","G06T","G06T","G06T","G06T"],"num_claims":20,"abstract":"The method and device disclosed herein presents a method that includes capturing, by an optical sensor disposed on a device moving in an environment, a plurality of optical data at respective locations within a portion of the environment; capturing, by a wheel encoder disposed on the device, a set of encoder data corresponding to the plurality of optical data at the respective locations; determining a first relative motion based on the plurality of optical data; determining a corresponding second relative motion based on the set of encoder data. In accordance with determining that a difference between the first relative motion and the corresponding second relative motion is larger than a first threshold: increasing a counter indicating a slip event of the wheel encoder. The slip event corresponds to a wheel of the device advancing and the corresponding second relative motion being below a second threshold."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Method and apparatus for optimization of a monocular visual-inertial localization system","description":"The method and device disclosed herein presents a method that includes capturing, by an optical sensor disposed on a device moving in an environment, a plurality of optical data at respective location","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-11521332","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-11521332","citation_suggestion":"Patentable. \"Method and apparatus for optimization of a monocular visual-inertial localization system\" (US-11521332). https://patentable.app/patents/US-11521332","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-11521332","json":"https://patentable.app/api/llm-context/US-11521332","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-30T16:25:46.329Z"}