CAMERA AND INERTIAL MEASUREMENT UNIT INTEGRATION WITH NAVIGATION DATA FEEDBACK FOR FEATURE TRACKING
First Claim
Patent Images
1. A navigation device, comprising:
- an inertial measurement unit (IMU) that provides inertial measurement to a processor; and
a camera that provides at least one image frame to the processor;
wherein the processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data.
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Abstract
A navigation device is provided herein comprising an inertial measurement unit (IMU), a camera, and a processor. The IMU provides an inertial measurement to the processor and the camera provides at least one image frame to the processor. The processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data.
81 Citations
20 Claims
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1. A navigation device, comprising:
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an inertial measurement unit (IMU) that provides inertial measurement to a processor; and a camera that provides at least one image frame to the processor; wherein the processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A camera aided inertial navigation system, comprising:
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at least one monocular camera that captures at least a first image frame; an inertial measurement unit integrated with the at least one monocular camera, wherein the inertial measurement unit takes inertial measurements; and a processor coupled to the at least one monocular camera and the inertial measurement unit, wherein the processor determines a position of at least one feature in the first image frame based on an output from processing the inertial measurements with a previous position of the at least one feature. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A navigation device, comprising:
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a monocular camera configured to capture image frames at discrete time intervals; an inertial measurement unit configured to measure angular rate and acceleration; and a processor coupled to the monocular camera and the inertial measurement unit, wherein the processor is configured to execute software, wherein the software comprises a feature extraction and data association functionality and a filter functionality that; tracks one or more features from a first image frames captured at a first location and from a second image frame captured at a second location; determines a physical displacement of the navigation device based on the measured angular rate and acceleration; determines a position correction based on the relative movement of the one or more features between the first image frame and the second image frame; and outputs navigation data based on the physical displacement and the position correction; and wherein feedback from the navigation data is used for tracking the one or more features. - View Dependent Claims (18, 19, 20)
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Specification