{
  "$type": "site.standard.document",
  "description": "A simultaneous localization and mapping method and corresponding system are disclosed. The method comprises: receiving a frame of three dimensional point cloud data from a three dimensional point cloud sensor coupled to a robot; receiving inertial measurement data indicative of a change in pose of…",
  "path": "/patents/1239738",
  "publishedAt": "2019-07-25T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/32",
    "Nanyang Technological University"
  ],
  "textContent": "A simultaneous localization and mapping method and corresponding system are disclosed. The method comprises: receiving a frame of three dimensional point cloud data from a three dimensional point cloud sensor coupled to a robot; receiving inertial measurement data indicative of a change in pose of the three dimensional point cloud sensor; using the inertial measurement data to estimate a rotation between the received frame of three dimensional point cloud data and a key frame of three dimensional point cloud data; applying a rotation to the received frame of three dimensional point cloud data to obtain an aligned frame of three dimensional point cloud data, the aligned frame of three dimensional point cloud data having an orientation aligned with the key frame of three dimensional point cloud data; and estimating a translation of the aligned frame of three dimensional point cloud data from the key frame of three dimensional point cloud data.",
  "title": "SIMULTANEOUS LOCALIZATION AND MAPPING METHODS AND APPARATUS"
}