{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9679381","patent":{"patent_number":"US-9679381","title":"Localisation and mapping","assignee":null,"inventors":[],"filing_date":"2013-07-25T00:00:00.000Z","publication_date":"2017-06-13T00:00:00.000Z","cpc_codes":["G06T","A63F","A63F","A63F","G06T","G06T","G06T","G06T","G06T","G06T","G06T","G06T","G06T","G06V","H04N","H04N","H04N","G06T","G06T","G06T","G06T","G06T","G06T","G06T"],"num_claims":13,"abstract":"A method generates a three-dimensional map of a region from successive images of that region captured from different positions. The method includes detecting feature points within the captured images; designating a subset of the captured images as a set of keyframes each having respective sets of measurement data representing image positions of landmark points detected as feature points in that image, where each keyframe is connected to at least one other keyframe in the set; and detecting whether candidate measurement data associated with a keyframe may be removed from the set of measurement data for that keyframe by detecting whether each keyframe, in the set of keyframes without the candidate measurement data, is still directly or indirectly connected to all of the other keyframes in the set of keyframes by a sequence of one or more connections. And in this case, the method includes removing that candidate measurement data."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Localisation and mapping","description":"A method generates a three-dimensional map of a region from successive images of that region captured from different positions. The method includes detecting feature points within the captured images;","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9679381","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-9679381","citation_suggestion":"Patentable. \"Localisation and mapping\" (US-9679381). https://patentable.app/patents/US-9679381","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9679381","json":"https://patentable.app/api/llm-context/US-9679381","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T09:28:29.883Z"}