ALEXANDRIA, Va., Dec. 9 -- United States Patent no. 12,493,120, issued on Dec. 9.
"Laser scanner with real-time, online ego-motion estimation" was invented by Ji Zhang (Pittsburgh), Sanjiv Singh (Pittsburgh) and Kevin Joseph Dowling (Gibsonia, Pa.).
According to the abstract* released by the U.S. Patent & Trademark Office: "A system configured to derive a motion estimate for a SLAM device using an IMU forming a part of the SLAM system. The system may be configured to refine the motion estimate via a visual-inertial odometry optimization process to produce a refined estimate and refine the refined estimate via a laser odometry optimization process by minimizing at least one residual squared error between at least one feature in a current s...