{
  "$type": "site.standard.document",
  "description": "A computer-implemented method of constructing a model of the motion of a mobile device, wherein the method comprises using a sensor of the device to obtain positional data providing an estimated pose of the mobile device, generating an initial graph based upon the positional data from the sensor…",
  "path": "/patents/1287223",
  "publishedAt": "2021-04-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G06T11/206",
    "Oxford University Innovation Limited"
  ],
  "textContent": "A computer-implemented method of constructing a model of the motion of a mobile device, wherein the method comprises using a sensor of the device to obtain positional data providing an estimated pose of the mobile device, generating an initial graph based upon the positional data from the sensor, nodes of which graph provide a series of possible poses of the device, and edges of which graph represent odometry and/or loop closure constraints; processing the graph to estimate confidence scores for each loop closure by performing pairwise consistency tests between each loop closure and a set of other loop closures; and generating an augmented graph from the initial graph by retaining or deleting each loop closure based upon the confidence scores.",
  "title": "A METHOD OF CONSTRUCTING A MODEL OF THE MOTION OF A MOBILE DEVICE AND RELATED SYSTEMS"
}