Off-Target Tracking Using Feature Aiding in the Context of Inertial Navigation
First Claim
1. A method of correcting drift in a tracking system of a mobile device, the method comprising:
- obtaining location information regarding a target;
obtaining an image of the target, the image captured by the mobile device;
estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, wherein the pose comprises information indicative of a translation and orientation of the mobile device; and
correcting a pose determination of the mobile device using an Extended Kalman Filter (EKF), based, at least in part, on the measurements relating to the pose of the mobile device.
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Abstract
A Visual Inertial Tracker (VIT), such as a Simultaneous Localization And Mapping (SLAM) system based on an Extended Kalman Filter (EKF) framework (EKF-SLAM) can provide drift correction in calculations of a pose (translation and orientation) of a mobile device by obtaining location information regarding a target, obtaining an image of the target, estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, and correcting a pose determination of the mobile device using an EKF, based, at least in part, on the measurements relating to the pose of the mobile device.
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Citations
29 Claims
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1. A method of correcting drift in a tracking system of a mobile device, the method comprising:
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obtaining location information regarding a target; obtaining an image of the target, the image captured by the mobile device; estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, wherein the pose comprises information indicative of a translation and orientation of the mobile device; and correcting a pose determination of the mobile device using an Extended Kalman Filter (EKF), based, at least in part, on the measurements relating to the pose of the mobile device. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A mobile device comprising:
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a camera; a memory; and a processing unit operatively coupled with the camera and the memory and configured to; obtain location information regarding a target; obtain, an image of the target, the image captured by the camera of the mobile device; estimate, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, wherein the pose comprises information indicative of a translation and orientation of the mobile device; and correct a pose determination of the mobile device using an Extended Kalman Filter (EKF), based, at least in part, on the measurements relating to the pose of the mobile device. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. An apparatus comprising:
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means for obtaining location information regarding a target; means for obtaining an image of the target, the image captured by a mobile device; means for estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, wherein the pose comprises information indicative of a translation and orientation of the mobile device; and means for correcting a pose determination of the mobile device using an Extended Kalman Filter (EKF), based, at least in part, on the measurements relating to the pose of the mobile device. - View Dependent Claims (17, 18, 19, 20, 21, 22)
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23. A non-transitory machine-readable medium having instructions embedded thereon for correcting drift in a tracking system of a mobile device, the instructions including computer code for:
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obtaining location information regarding a target; obtaining an image of the target, the image captured by the mobile device; estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, wherein the pose comprises information indicative of a translation and orientation of the mobile device; and correcting a pose determination of the mobile device using an Extended Kalman Filter (EKF), based, at least in part, on the measurements relating to the pose of the mobile device. - View Dependent Claims (24, 25, 26, 27, 28, 29)
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Specification