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Electronic device pose identification based on imagery and non-image sensor data

  • US 10,073,531 B2
  • Filed: 10/07/2015
  • Issued: 09/11/2018
  • Est. Priority Date: 10/07/2015
  • Status: Active Grant
First Claim
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1. A method comprising:

  • updating, at an electronic device, a first data structure storing a first estimated pose of the electronic device at a first rate based on received non-visual pose information obtained from non-visual sensors;

    updating, at the electronic device, a second data structure storing a second estimated pose of the electronic device at a second rate based on imagery captured at the electronic device, the second rate lower than the first rate;

    adjusting the first data structure to match the second data structure, comprising;

    identifying a difference between the first estimated pose and the second estimated pose along a first axis of a frame of reference of the electronic device;

    adjusting the first estimated pose along the first axis within a first threshold amount based on the difference between the first estimated pose and the second estimated pose, and,in response to identifying that the difference exceeds a second threshold, setting the difference to the second threshold; and

    employing the adjusted first data structure as an estimated pose of the electronic device to support location-based functionality at the electronic device.

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