{
  "$type": "site.standard.document",
  "description": "A method and device for extracting key frames in simultaneous localization and mapping and a smart device. The method includes acquiring an image frame from an image library storing a plurality of image frames of an unknown environment, and performing feature extraction on the image frame to obtain…",
  "path": "/patents/1295861",
  "publishedAt": "2021-07-22T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/005",
    "GOERTEK INC."
  ],
  "textContent": "A method and device for extracting key frames in simultaneous localization and mapping and a smart device. The method includes acquiring an image frame from an image library storing a plurality of image frames of an unknown environment, and performing feature extraction on the image frame to obtain information of feature points, wherein the information includes a quantity of feature points; acquiring relative motion information of the image frame relative to the previous key frame, and calculating an adaptive threshold currently used by using the relative motion information; and selecting a key frame according to the information of feature points and the adaptive threshold indicating space information of image frames.",
  "title": "METHOD AND DEVICE FOR EXTRACTING KEY FRAMES IN SIMULTANEOUS LOCALIZATION AND MAPPING AND SMART DEVICE"
}