{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9824450","patent":{"patent_number":"US-9824450","title":"Localisation and mapping","assignee":null,"inventors":[],"filing_date":"2013-07-25T00:00:00.000Z","publication_date":"2017-11-21T00:00:00.000Z","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":15,"abstract":"A method generates a three-dimensional map of a region from successive images of the region captured from different camera poses. The method detects feature points within the captured images and designates a subset of the images as a set of keyframes each having camera pose data and respective sets of measurement data representing image positions of landmark points detected as feature points in that image. The method also includes performing bundle-adjustment to generate bundle-adjusted landmark points by iteratively refining the three dimensional spatial positions of the landmarks and the camera pose data associated with at least a subset of the keyframes. And for a feature point, not corresponding to a bundle-adjusted landmark point, detected at an intervening image which is not a keyframe and present in another intervening image which is not a keyframe, the method generates a non-bundle-adjusted point corresponding to that feature point and derives a camera pose."},"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 the region captured from different camera poses. The method detects feature points within the captured images and desig","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9824450","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-9824450","citation_suggestion":"Patentable. \"Localisation and mapping\" (US-9824450). https://patentable.app/patents/US-9824450","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9824450","json":"https://patentable.app/api/llm-context/US-9824450","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T10:22:05.081Z"}