Techniques for accurate pose estimation
First Claim
1. A method of enhancing the accuracy of pose estimation of a display, comprising the steps of:
- receiving, from a camera, video data;
receiving geodetic coordinates of a point of interest;
receiving, from a plurality of sensors, position/orientation data;
retroactively adjusting, by a processor and based on the position/orientation data received from the sensors, a historical position prediction and a historical orientation prediction in an Extended Kalman Filter-based estimation of a position and orientation of the display,wherein the historical position prediction and the historical orientation prediction were previously used to overlay indicia of a historical location of the point of interest on historical video data on the display;
updating, by the processor and based on the position/orientation data received from the sensors and the adjusted historical position prediction and adjusted historical orientation prediction for the display, the Extended Kalman Filter-based estimation of the 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 using the Extended Kalman Filter;
displaying, on the display, the video data;
overlaying, on the video data on the display, indicia of a location of the point of interest based on the geodetic coordinates and the predicted future position and the predicted future orientation for the display.
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Accused Products
Abstract
The described technology regards an augmented reality system and method for estimating a position of a location of interest relative to the position and orientation of a display based upon a retroactive adjustment of a previously rendered position and orientation of the display, by means of an adjust-update-predict (AUP) cycle, and calculating the location of interest relative to the position and orientation of the display. Systems of the described technology include including a plurality of sensors, a processing module or other computation means, and a database. Methods of the described technology use data from the sensor package useful to accurately render graphical user interface information on a display.
4 Citations
20 Claims
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1. A method of enhancing the accuracy of pose estimation of a display, comprising the steps of:
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receiving, from a camera, video data; receiving geodetic coordinates of a point of interest; receiving, from a plurality of sensors, position/orientation data; retroactively adjusting, by a processor and based on the position/orientation data received from the sensors, a historical position prediction and a historical orientation prediction in an Extended Kalman Filter-based estimation of a position and orientation of the display, wherein the historical position prediction and the historical orientation prediction were previously used to overlay indicia of a historical location of the point of interest on historical video data on the display; updating, by the processor and based on the position/orientation data received from the sensors and the adjusted historical position prediction and adjusted historical orientation prediction for the display, the Extended Kalman Filter-based estimation of the 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 using the Extended Kalman Filter; displaying, on the display, the video data; overlaying, on the video data on the display, indicia of a location of the point of interest based on the geodetic coordinates and the predicted future position and the predicted future orientation for the display. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A head-mounted display with enhanced pose estimation, comprising:
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a plurality of sensors; a see-through display; a processor; and one or more non-transitory computer-readable media storing computer-executable instructions which, when executed by the processor perform a method of estimating a pose of the display, the method comprising the steps of; receiving geodetic coordinates of a point of interest receiving, from the plurality of sensors, position/orientation data; retroactively adjusting, based on the position/orientation data received from the sensors, a historical position prediction and a historical orientation prediction in an Extended Kalman Filter-based estimation of a position and orientation of the display, wherein the historical position prediction and the historical orientation prediction were previously used to display indicia of a historical location of the point of interest on the display; updating, based on the position/orientation data received from the sensors and the adjusted historical position prediction and historical orientation prediction for the display, the Extended Kalman Filter-based estimation of the position and orientation of the display; predicting, 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; displaying, on the see-through display, indicia of a location of the point of interest based on the geodetic coordinates and the predicted future position and the predicted future orientation for the display. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. One or more non-transitory computer-readable media storing computer-executable instructions which, when executed by a processor, perform a method of estimating the pose of a display, the method comprising the steps of:
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receiving geodetic coordinates of a point of interest; receiving, from a plurality of sensors, position/orientation data; retroactively adjusting, by the processor and based on the position/orientation data received from the sensors, a historical position prediction and a historical orientation prediction for the display in a state-based estimation of a position and orientation of the display; wherein the historical position prediction and the historical orientation prediction were previously used to display indicia of a historical location of the point of interest on the display; updating, by the processor and based on the position/orientation data received from the sensors and the updated historical position prediction and historical orientation prediction of the display, the state-based estimation of the position and orientation of the display; predicting, by the processor and based on the updated state-based estimation of the position and orientation of the display, a future position and a future orientation for the display using the state-based estimation of the position and orientation of the display; displaying, on the display, indicia of a location of the point of interest based on the geodetic coordinates and the predicted future position and the predicted future orientation for the display. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification