{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9741140","patent":{"patent_number":"US-9741140","title":"Fast solving for loop closure using a relative state space","assignee":null,"inventors":[],"filing_date":"2014-05-19T00:00:00.000Z","publication_date":"2017-08-22T00:00:00.000Z","cpc_codes":["G06T","G06T","G06T","G06V","G06T","G06T"],"num_claims":20,"abstract":"The subject disclosure is generally directed towards a relatively fast and accurate technology that corrects mobile device (e.g., mobile robot) mapping data into corrected map data based upon detection of loop closure. A variation of stochastic gradient descent (with constraints in a deterministic order) may be used in a first correction phase to provide an updated graph in a relatively fast manner by operating in a relative state space. A graph-based variant of Gauss-Seidel that operates in a global state space may be used in a later phase to refine the updated graph into a more exact graph."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Fast solving for loop closure using a relative state space","description":"The subject disclosure is generally directed towards a relatively fast and accurate technology that corrects mobile device (e.g., mobile robot) mapping data into corrected map data based upon detectio","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9741140","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-9741140","citation_suggestion":"Patentable. \"Fast solving for loop closure using a relative state space\" (US-9741140). https://patentable.app/patents/US-9741140","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9741140","json":"https://patentable.app/api/llm-context/US-9741140","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T04:14:50.180Z"}