REAL-TIME POSE ESTIMATION SYSTEM USING INERTIAL AND FEATURE MEASUREMENTS
First Claim
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1. A hybrid estimator system using sensors for real-time pose tracking of moving platforms, the system comprising:
- a) a device comprising at least one processor, a memory, a storage and communications through a protocol; and
b) one or more than one module, communicatively coupled to each other, comprising code executable on the processor for1) a hybrid estimator, comprising a plurality of algorithms for processing measurements; and
2) selecting the constituent algorithms of the hybrid estimator used to process each measurement.
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Abstract
A hybrid estimator system using visual and inertial sensors for real-time pose tracking on devices with limited processing power using at least one processor, a memory, a storage and communications through a protocol and one or more than one software module for a hybrid estimator, real-time algorithm selection to process different measurements, statistical learning for these characteristics to compute the expected device computing cost of any strategy for allocating measurements to algorithms, and algorithm selection based on the statistical learning module.
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Citations
36 Claims
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1. A hybrid estimator system using sensors for real-time pose tracking of moving platforms, the system comprising:
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a) a device comprising at least one processor, a memory, a storage and communications through a protocol; and b) one or more than one module, communicatively coupled to each other, comprising code executable on the processor for 1) a hybrid estimator, comprising a plurality of algorithms for processing measurements; and 2) selecting the constituent algorithms of the hybrid estimator used to process each measurement. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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- 26. The system of 1, where the hybrid estimator includes an extended Kalman filter-sliding-window iterative minimization algorithm, where the state vector contains a current IMU state as well as representations of the feature positions.
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33. A method for using a hybrid estimator using visual and inertial sensors for real-time pose tracking on devices with limited processing power, the method comprising the steps of:
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a) determining a method to be used by the system for processing each of the feature measurements; b) adapting the system to the characteristics of the environment, the trajectory of the moving object, and the availability of processing resources; c) determining the number of features to be extracted from raw sensor data in order to adjust to the availability of computational resources; and d) constructing linearized approximations of the nonlinear mathematical models that describe the motion and the sensor measurements.
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34. A method for making a hybrid estimator using visual and inertial sensors for real-time pose tracking on devices with limited processing power, the method comprising the steps of:
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a) providing a device comprising at least one processor, a memory, a storage and communications through a protocol; and b) providing one or more than one software module, communicatively coupled to each other, comprising code executable on the processor for; 1) a hybrid estimator; 2) real-time algorithm selection to process different measurements; 3) statistical learning for these characteristics to compute the expected device computing cost of any strategy for allocating measurements to algorithms; and 4) algorithm selection based on the statistical learning module. - View Dependent Claims (35, 36)
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Specification