METHODS AND APPARATUS FOR PROVIDING A SNAPSHOT TRUTHING SYSTEM FOR A TRACKER
First Claim
1. A method for detecting and correcting drift associated with operation of a hybrid tracking system, the method comprising:
- obtaining a data signal from a first tracker subsystem having a first tracker latency time;
for a defined window of time,capturing snapshot input data for a second tracker subsystem having a second tracker latency time which is longer than the first tracker latency time; and
capturing synchronized data from the data signal which corresponds to the defined window of time;
wherein the defined window of time comprises a time duration shorter than the second tracker latency time, to capture the snapshot input data;
calculating second tracker snapshot results from the captured snapshot input data for the second tracker subsystem;
calculating first tracker snapshot results from the captured synchronized data from the first tracker subsystem;
calculating an error between the first tracker snapshot results and the second tracker snapshot results, to determine a level of drift associated with operation of the first tracker subsystem; and
adjusting operation of the first tracker subsystem according to the determined level of drift.
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Abstract
A method for detecting and correcting drift associated with operation of a hybrid tracking system is provided. The method obtains a data signal from a first tracker subsystem having a first tracker latency time; for a defined window of time, the method captures snapshot input data for a second tracker subsystem having a second tracker latency time which is longer than the first tracker latency time; and captures synchronized data from the data signal which corresponds to the defined window of time; wherein the defined window of time comprises a time duration shorter than the second tracker latency time, to capture the snapshot input data. The method further calculates second tracker snapshot results from the captured snapshot input data for the second tracker subsystem; calculates first tracker snapshot results from the captured synchronized data from the first tracker subsystem; calculates an error between the first tracker snapshot results and the second tracker snapshot results, to determine a level of drift associated with operation of the first tracker subsystem; and adjusts operation of the first tracker subsystem according to the determined level of drift.
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Citations
20 Claims
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1. A method for detecting and correcting drift associated with operation of a hybrid tracking system, the method comprising:
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obtaining a data signal from a first tracker subsystem having a first tracker latency time; for a defined window of time, capturing snapshot input data for a second tracker subsystem having a second tracker latency time which is longer than the first tracker latency time; and capturing synchronized data from the data signal which corresponds to the defined window of time; wherein the defined window of time comprises a time duration shorter than the second tracker latency time, to capture the snapshot input data; calculating second tracker snapshot results from the captured snapshot input data for the second tracker subsystem; calculating first tracker snapshot results from the captured synchronized data from the first tracker subsystem; calculating an error between the first tracker snapshot results and the second tracker snapshot results, to determine a level of drift associated with operation of the first tracker subsystem; and adjusting operation of the first tracker subsystem according to the determined level of drift. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A head-worn display apparatus, configured to provide a conformal near-to-eye (NTE) display, the apparatus comprising:
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a hybrid tracking system, comprising; an inertial tracker, configured to provide first positional data of the head-worn display apparatus, with regard to an inertial reference frame; a non-inertial tracker, configured to provide second positional data of the head-worn display apparatus, with regard to the inertial reference frame; a snapshot module, configured to; determine a snapshot time frame by coordinating a window of time for gathering input data for the non-inertial tracker; synchronize operation of the inertial tracker and the non-inertial tracker; and capture a relevant subset of the first positional data associated with the determined snapshot time frame and a relevant subset of the second positional data associated with the determined snapshot time frame; a drift detection module, configured to compare the relevant subset of first positional data with the relevant subset of second positional data, to determine an offset; and a drift correction module, configured to adjust operation of the inertial tracker, based on the determined offset. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A non-transitory, computer-readable medium containing instructions thereon, which, when executed by a processor, perform a method comprising:
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synchronizing an inertial tracker and a non-inertial tracker; identifying a snapshot time-frame, based on the synchronization step; during the snapshot time-frame, obtaining input data for the non-inertial tracker; obtaining data from the inertial tracker corresponding to the snapshot time-frame; obtaining a first result from the inertial tracker and a second result from the non-inertial tracker, each representative of the snapshot time-frame; comparing the first result to the second result to obtain a discrepancy result; and modifying operation of the inertial tracker, based on the discrepancy result. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification