Hypotheses line mapping and verification for 3D maps
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United States of America Patent
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Jan 16, 2018
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app pub date -
Jul 2, 2015
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Jul 2, 2015
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Abstract
Disclosed are a device, apparatus, and method for performing line mapping. A three-dimensional (3D) map that includes at least a first and a second 3D line corresponding to an aspect of a real world environment may be obtained. One or more images of the aspect may also be obtained and hypotheses 3D lines may be determined. The hypothesis 3D lines may be verified with the one or more images and the 3D map may be updated. The determination and verification of the hypothesis 3D lines may include creating a plane in 3D space and using co-planarity or orthogonality assumptions.
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