{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9658070","patent":{"patent_number":"US-9658070","title":"Inverse sliding-window filters for vision-aided inertial navigation systems","assignee":null,"inventors":[],"filing_date":"2015-07-10T00:00:00.000Z","publication_date":"2017-05-23T00:00:00.000Z","cpc_codes":["G01C","G05D","G05D","G05D","G06T","G06T","G06V","G06T","G06T"],"num_claims":27,"abstract":"This disclosure describes inverse filtering and square root inverse filtering techniques for optimizing the performance of a vision-aided inertial navigation system (VINS). In one example, instead of keeping all features in the system's state vector as SLAM features, which can be inefficient when the number of features per frame is large or their track length is short, an estimator of the VINS may classify the features into either SLAM or MSCKF features. The SLAM features are used for SLAM-based state estimation, while the MSCKF features are used to further constrain the poses in the sliding window. In one example, a square root inverse sliding window filter (SQRT-ISWF) is used for state estimation."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Inverse sliding-window filters for vision-aided inertial navigation systems","description":"This disclosure describes inverse filtering and square root inverse filtering techniques for optimizing the performance of a vision-aided inertial navigation system (VINS). In one example, instead of ","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9658070","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-9658070","citation_suggestion":"Patentable. \"Inverse sliding-window filters for vision-aided inertial navigation systems\" (US-9658070). https://patentable.app/patents/US-9658070","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9658070","json":"https://patentable.app/api/llm-context/US-9658070","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T15:40:18.063Z"}