ELECTRONIC DEVICE POSE IDENTIFICATION BASED ON IMAGERY AND NON-IMAGE SENSOR DATA
First Claim
1. A method comprising:
- updating, at an electronic device, a first estimated pose of the electronic device at a first rate based on imagery captured at the electronic device and at a second rate based on received non-visual pose information obtained from non-image sensors, the second rate different from the first rate; and
employing the first estimated pose to support location-based functionality at the electronic device.
2 Assignments
0 Petitions
Accused Products
Abstract
An electronic device includes one or more imaging sensors (e.g, imaging cameras) and includes one or more non-image sensors, such as an inertial measurement unit (IMU), that can provide information indicative of the pose of the electronic device. The electronic device estimates its pose based on two independent sources of pose information: pose information generated at a relatively high rate based on non-visual information generated by the non-image sensors and pose information generated at a relatively low rate based on imagery captured by the one or more imaging sensors. To achieve both a high pose-estimation rate and high degree of pose estimation accuracy, the electronic device adjusts a pose estimate based on the non-visual pose information at a high rate, and at a lower rate spatially smoothes the pose estimate based on the visual pose information.
19 Citations
20 Claims
-
1. A method comprising:
-
updating, at an electronic device, a first estimated pose of the electronic device at a first rate based on imagery captured at the electronic device and at a second rate based on received non-visual pose information obtained from non-image sensors, the second rate different from the first rate; and employing the first estimated pose to support location-based functionality at the electronic device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A method, comprising,
generating at an electronic device a first set of estimated poses at a first rate based on non-visual pose information obtained from non-image sensors; -
generating a second set of estimated poses at a second rate different from the first rate based on imagery captured at the electronic device; and spatially smoothing, at the electronic device, the first set of estimated poses based on the second set of estimated poses. - View Dependent Claims (12, 13, 14)
-
-
15. An electronic device comprising:
-
an imaging camera to capture imagery; an inertial measurement unit (IMU) to generate non-visual pose information; and a processor to update a first estimated pose of the electronic device at a first rate based on the imagery and at a second rate based on received non-visual pose information obtained from non-image sensors, the second rate different from the first rate. - View Dependent Claims (16, 17, 18, 19, 20)
-
Specification