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Dynamic particle filter parameterization

  • US 10,229,508 B2
  • Filed: 12/16/2016
  • Issued: 03/12/2019
  • Est. Priority Date: 12/17/2015
  • Status: Active Grant
First Claim
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1. A method, comprising:

  • estimating a rotation of an apparatus; and

    estimating a position variation of a motion of the apparatus between a first instant and a second instant, said motion including the rotation of the apparatus and said position variation, said position variation including a position and a velocity, wherein estimating said position variation comprises performing particle filtering to estimate said position variation from a probabilistic-weighted average of particles, said particle filtering having as inputs the estimated rotation and a parameter indicative of a quality of the estimated rotation, the parameter being based on an inliers rate of the estimated rotation.

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