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Techniques for accurate pose estimation

  • US 10,304,199 B2
  • Filed: 09/14/2017
  • Issued: 05/28/2019
  • Est. Priority Date: 08/22/2014
  • Status: Active Grant
First Claim
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1. A method of enhancing the accuracy of pose estimation of a display, comprising the steps of:

  • receiving position/orientation update data for a first time epoch;

    storing the position/orientation data for the first time epoch in a rewind buffer;

    updating, by a processor and based on the position/orientation update data, an Extended Kalman Filter-based estimation of a position and orientation of the display;

    predicting, by the processor and based on the updated Extended Kalman Filter-based estimation of the position and orientation of the display, a future position and a future orientation for the display for the first time epoch using the Extended Kalman Filter;

    after the expiration of the first time epoch, receiving absolute position/orientation data for a second time epoch, the second time epoch preceding the first time epoch;

    retrieving, from the rewind buffer, the position/orientation update data for the first time epoch;

    reupdating, by the processor and based on the absolute position/orientation data and the position/orientation update data, the Extended Kalman Filter-based estimation of the position and orientation of the display; and

    repredicting, by the processor and based on the absolute position/orientation data, the position/orientation update data, and the updated Extended Kalman Filter-based estimation of the position and orientation of the display, the future position and the future orientation for the display for the first time epoch using the Extended Kalman Filter.

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