Abstract: The invention relates to a method for determining a state xk (7) of a camera (11) at a time tk, the state xk (7) being a realization of a state random variable Xk, wherein the state is related to a state-space model of a movement of the camera (11).

Abstract: A method for determining a state of a localizing apparatus in an indoor environment having N pre-arranged landmarks. The method includes receiving the positions of the N pre-arranged landmarks; receiving a first image, and a second image; receiving positions of n currently mapped simultaneous-localization-and-mapping (SLAM) landmarks; determining positions of at least one feature in the first image, and determining an injective mapping estimate from the at least one features into the set of N pre-arranged landmarks; determining positions of at least one SLAM feature in the second image, and determining a first SLAM injective mapping estimate from at least one SLAM features into the set of the n currently mapped SLAM landmarks; using the determined injective mapping estimate and the determined first SLAM injective mapping estimate to determine the state of the localizing apparatus and to update the positions of the n currently mapped SLAM landmarks.

Abstract: The invention relates to a method for determining a state xk of a localizing apparatus at a time t. the state xk being a realization of a state random variable xk. The position and orientation of a camera, e.g., mounted on a drone as an example of a localizing apparatus, may be used for determining a state of the localizing apparatus, and the state may be tracked over time. Existing methods for determining the state of a localizing apparatus do not provide an adequate level of accuracy, however, thus making them insufficient for use in many applications. It is an object of the present invention to mitigate at least some of the disadvantages associated with the methods for determining a state xk of a localizing apparatus known from the state of the art.

Abstract: According to the present invention there is provide a method of creating a landmark map comprising the steps of: capturing a plurality of frame using a camera, each frame comprising an image; assigning an image number which denotes the order in which each frame was taken; extracting features from all the images in the captured frames; assigning a distinct identifier to each respective feature which was extracted from the image belonging to the frame which was first captured; for each image belonging to the respective frames which was captured after the first frame was captured, carrying out the following steps: (i) computing a distance between, the location of each respective extracted feature in that image, and the location of each respective feature extracted from image belonging to a previously captured frame; and (ii) determining if said computed distance is less than, a predefined threshold distance; and if the computed distance is not less than said predefined threshold distance then assign that extract

Abstract: According to the present invention there is provide a method of creating a landmark map comprising the steps of: capturing a plurality of frame using a camera, each frame comprising an image; assigning an image number which denotes the order in which each frame was taken; extracting features from all the images in the captured frames; assigning a distinct identifier to each respective feature which was extracted from the image belonging to the frame which was first captured; for each image belonging to the respective frames which was captured after the first frame was captured, carrying out the following steps: (i) computing a distance between, the location of each respective extracted feature in that image, and the location of each respective feature extracted from image belonging to a previously captured frame; and (ii) determining if said computed distance is less than, a predefined threshold distance; and if the computed distance is not less than said predefined threshold distance then assign that extract

Abstract: According to the present invention there is provide a method of creating a landmark map comprising the steps of: capturing a plurality of frame using a camera, each frame comprising an image; assigning an image number which denotes the order in which each frame was taken; extracting features from all the images in the captured frames; assigning a distinct identifier to each respective feature which was extracted from the image belonging to the frame which was first captured; for each image belonging to the respective frames which was captured after the first frame was captured, carrying out the following steps: (i) computing a distance between, the location of each respective extracted feature in that image, and the location of each respective feature extracted from image belonging to a previously captured frame; and (ii) determining if said computed distance is less than, a predefined threshold distance; and if the computed distance is not less than said predefined threshold distance then assign that extract

Abstract: The invention relates to a method for determining a state xk (9) of a localizing apparatus at a time tk, the state xk being a realization of a state random variable Xk.

Abstract: The invention relates to a method for determining a state xk (7) of a camera (11) at a time tk, the state xk (7) being a realization of a state random variable Xk, wherein the state is related to a state-space model of a movement of the camera (11).