ADAPTIVE SWITCHING BETWEEN VISION AIDED INS AND VISION ONLY POSE
First Claim
1. A method comprising:
- tracking a relative pose between a camera and a target using a contribution from inertial sensor measurements and a contribution from vision based measurements;
detecting movement of the target; and
reducing the contribution from the inertial sensor measurements to track the relative pose between the camera and the target when movement of the target is detected.
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Abstract
A mobile device tracks a relative pose between a camera and a target using Vision aided Inertial Navigation System (VINS), that includes a contribution from inertial sensor measurements and a contribution from vision based measurements. When the mobile device detects movement of the target, the contribution from the inertial sensor measurements to track the relative pose between the camera and the target is reduced or eliminated. Movement of the target may be detected by comparing vision only measurements from captured images and inertia based measurements to determine if a discrepancy exists indicating that the target has moved. Additionally or alternatively, movement of the target may be detected using projections of feature vectors extracted from captured images.
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Citations
28 Claims
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1. A method comprising:
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tracking a relative pose between a camera and a target using a contribution from inertial sensor measurements and a contribution from vision based measurements; detecting movement of the target; and reducing the contribution from the inertial sensor measurements to track the relative pose between the camera and the target when movement of the target is detected. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A mobile device comprising:
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a camera capable of capturing images of a target; inertial sensors; and a processor coupled to receive captured images of the target and coupled to receive signals from the inertial sensors, the processor configured produce vision based measurements using the captured images of the target and inertial sensor measurements using the signals from the inertial sensors, the processor being configured to track a relative pose between the camera and the target using a contribution from the inertial sensor measurements and a contribution from the vision based measurements, the processor being further configured to detect movement of the target and to reduce the contribution from the inertial sensor measurements to track the relative pose between the camera and the target when movement of the target is detected. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A mobile device comprising:
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means for tracking a relative pose between a camera and a target using a contribution from inertial sensor measurements and a contribution from vision based measurements; means for detecting movement of the target; and means for reducing the contribution from the inertial sensor measurements to track the relative pose between the camera and the target when movement of the target is detected. - View Dependent Claims (20, 21, 22, 23)
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24. A non-transitory computer-readable medium including program code stored thereon, comprising:
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program code to track a relative pose between a camera and a target using a contribution from inertial sensor measurements and a contribution from vision based measurements; program code to detect movement of the target; and program code to reduce the contribution from the inertial sensor measurements to track the relative pose between the camera and the target when movement of the target is detected. - View Dependent Claims (25, 26, 27, 28)
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Specification