Patents by Inventor Tong Ke

Tong Ke has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Square root inverse Schmidt-Kalman filters for vision-aided inertial navigation and mapping
    Patent number: 10907971
    Abstract: A vision-aided inertial navigation system comprises an image source to produce image data for poses of reference frames along a trajectory, a motion sensor configured to provide motion data of the reference frames, and a hardware-based processor configured to compute estimates for a position and orientation of the reference frames for the poses. The processor executes a square-root inverse Schmidt-Kalman Filter (SR-ISF)-based estimator to compute, for features observed from poses along the trajectory, constraints that geometrically relate the poses from which the respective feature was observed. The estimator determines, in accordance with the motion data and the computed constraints, state estimates for position and orientation of reference frames for poses along the trajectory and computes positions of the features that were each observed within the environment.
    Type: Grant
    Filed: December 7, 2018
    Date of Patent: February 2, 2021
    Assignee: Regents of the University of Minnesota
    Inventors: Stergios I. Roumeliotis, Kejian J. Wu, Tong Ke
  • SQUARE ROOT INVERSE SCHMIDT-KALMAN FILTERS FOR VISION-AIDED INERTIAL NAVIGATION AND MAPPING
    Publication number: 20190178646
    Abstract: A vision-aided inertial navigation system comprises an image source to produce image data for poses of reference frames along a trajectory, a motion sensor configured to provide motion data of the reference frames, and a hardware-based processor configured to compute estimates for a position and orientation of the reference frames for the poses. The processor executes a square-root inverse Schmidt-Kalman Filter (SR-ISF)-based estimator to compute, for features observed from poses along the trajectory, constraints that geometrically relate the poses from which the respective feature was observed. The estimator determines, in accordance with the motion data and the computed constraints, state estimates for position and orientation of reference frames for poses along the trajectory and computes positions of the features that were each observed within the environment.
    Type: Application
    Filed: December 7, 2018
    Publication date: June 13, 2019
    Inventors: Stergios I. Roumeliotis, Kejian J. Wu, Tong Ke