SYSTEM AND METHOD FOR FAULT DETECTION AND RECOVERY FOR CONCURRENT ODOMETRY AND MAPPING

摘要

An electronic device detects and recovers from fault conditions while tracking its motion and building a map of its environment. A front-end motion tracking module detects fault conditions while tracking motion over time and provides mapping data to a back-end mapping module. The front-end motion tracking module indicates to the back-end mapping module when a fault condition has been detected and when the fault condition is no longer detected. The back-end mapping module generates maps from the mapping data and merges the maps to build a three-dimensional representation of the environment. The back-end mapping module buffers or discards any mapping data received from the front-end motion tracking module during the existence of a fault condition. The back-end mapping module merges the maps generated based on mapping data received before and after the fault condition and adds the merged maps to the three-dimensional representation of the environment.