Dynamic particle filter parameterization
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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Abstract
Method of estimating a position variation of a motion of an apparatus between a first instant and a second instant, said motion including a rotation of the apparatus and said position variation, said position variation including a position and a velocity, wherein estimating said position variation comprises performing a particles filtering for estimating said position and velocity from the probabilistic-weighted average of the particles, said particles filter using a known estimation of said rotation and being parameterized for taking into account a quality of said rotation estimation.
26 Citations
28 Claims
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1. A method, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A device, comprising:
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means for estimating a rotation of an apparatus; and means for 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 said means for estimating the position variation includes means for particle filtering of particles for estimating said position and velocity from a probabilistic-weighted average of the particles, said particle filtering having as inputs the estimated rotation and a parameter indicative of a quality of said rotation estimation, the parameter being based on an inliers rate of the estimated rotation. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A platform, comprising
an apparatus; - and
a device including means for estimating a rotation of the apparatus and means for 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 said means for estimating the position variation includes a particle filter for particle filtering of particles for estimating said position and velocity from a probabilistic-weighted average of the particles, said particle filtering having as inputs the estimated rotation and a parameter indicative of a quality of said rotation estimation, the parameter being based on an inliers rate of the estimated rotation. - View Dependent Claims (18, 19, 20, 21, 22)
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23. A system, comprising:
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one or more sensors; and processing circuitry coupled to the one or more sensors, and which, in operation; estimates a rotation of an apparatus; and estimates a position variation of a motion of the apparatus between a first instant and a second instant, the motion including the rotation of the apparatus and the position variation, the position variation including a position and a velocity, wherein said position variation is estimated using 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. - View Dependent Claims (24, 25, 26, 27, 28)
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Specification