Abstract: Disclosed herein are systems and methods for correcting distortion in a camera lens. The methods can include receiving at least one image of a calibration object, in which the image is captured via the camera lens and the lens has lens distortion. The methods can further include fitting a plurality of geodesics in the image; determining at least one connection equation for the plurality of geodesics; and determining a metric based on the connection equation, the metric comprising a first distorted radial coordinate. The methods can further include determining an undistorted radial coordinate based on the first distorted radial coordinate; determining a second distorted radial coordinate as a function of the undistorted radial coordinate; inverting the undistorted radial coordinate; and generating an undistorted image based on the inverted undistorted radial coordinate.

Abstract: Some embodiments of location estimation methods may (1) facilitate the task of efficiently finding the location of a mobile platform in scenarios in which the uncertainties associated with the coordinates of the map features are anisotropic and/or non-proportional, and/or (2) facilitate decoupling of location estimation from feature estimation. Some embodiments of feature estimation methods may (1) facilitate the combining of environmental descriptions provided by two or more mobile platforms, and/or (2) facilitate decoupling of a data aggregation from feature re-estimation.

Abstract: Disclosed herein are systems and methods for correcting distortion in a camera lens. The methods can include receiving at least one image of a calibration object, in which the image is captured via the camera lens and the lens has lens distortion. The methods can further include fitting a plurality of geodesics in the image; determining at least one connection equation for the plurality of geodesics; and determining a metric based on the connection equation, the metric comprising a first distorted radial coordinate. The methods can further include determining an undistorted radial coordinate based on the first distorted radial coordinate; determining a second distorted radial coordinate as a function of the undistorted radial coordinate; inverting the undistorted radial coordinate; and generating an undistorted image based on the inverted undistorted radial coordinate.

Abstract: Some embodiments of location estimation methods may (1) facilitate the task of efficiently finding the location of a mobile platform in scenarios in which the uncertainties associated with the coordinates of the map features are anisotropic and/or non-proportional, and/or (2) facilitate decoupling of location estimation from feature estimation. Some embodiments of feature estimation methods may (1) facilitate the combining of environmental descriptions provided by two or more mobile platforms, and/or (2) facilitate decoupling of a data aggregation from feature re-estimation.

Abstract: Some embodiments of location estimation methods may (1) facilitate the task of efficiently finding the location of a mobile platform in scenarios in which the uncertainties associated with the coordinates of the map features are anisotropic and/or non-proportional, and/or (2) facilitate decoupling of location estimation from feature estimation. Some embodiments of feature estimation methods may (1) facilitate the combining of environmental descriptions provided by two or more mobile platforms, and/or (2) facilitate decoupling of a data aggregation from feature re-estimation.

Abstract: Some embodiments of location estimation methods may (1) facilitate the task of efficiently finding the location of a mobile platform in scenarios in which the uncertainties associated with the coordinates of the map features are anisotropic and/or non-proportional, and/or (2) facilitate decoupling of location estimation from feature estimation. Some embodiments of feature estimation methods may (1) facilitate the combining of environmental descriptions provided by two or more mobile platforms, and/or (2) facilitate decoupling of a data aggregation from feature re-estimation.