North centered orientation tracking in uninformed environments
First Claim
1. A method comprising:
- generating a panoramic map, at a mobile device, based on images captured from a camera;
using orientation sensors, at a mobile device, to estimate an orientation of the panoramic map with respect to a world reference frame;
determining the orientation of the camera with respect to the panoramic map based on matching at least one feature from an image frame produced by the camera to at least one feature from the panoramic map; and
determining an orientation of the camera with respect to the world reference frame based on the orientation of the camera with respect to the panoramic map and the orientation of the panoramic map with respect to the world reference frame.
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Abstract
A mobile platform uses orientation sensors and vision-based tracking to track with absolute orientation. The mobile platform generates a panoramic map by rotating a camera, which is compared to an image frame produced by the camera, to determine the orientation of the camera with respect to the panoramic map. The mobile platform also estimates an orientation of the panoramic map with respect to a world reference frame, e.g., magnetic north, using orientation sensors, including at least one accelerometer and a magnetic sensor. The orientation of the camera with respect to the world reference frame is then determined using the orientation of the camera with respect to the panoramic map and the orientation of the panoramic map with respect to the world reference frame. A filter, such as a Kalman filter, provides an accurate and stable estimate of the orientation of the panoramic map with respect to the world reference frame.
59 Citations
26 Claims
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1. A method comprising:
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generating a panoramic map, at a mobile device, based on images captured from a camera; using orientation sensors, at a mobile device, to estimate an orientation of the panoramic map with respect to a world reference frame; determining the orientation of the camera with respect to the panoramic map based on matching at least one feature from an image frame produced by the camera to at least one feature from the panoramic map; and determining an orientation of the camera with respect to the world reference frame based on the orientation of the camera with respect to the panoramic map and the orientation of the panoramic map with respect to the world reference frame. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A mobile device comprising:
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orientation sensors configured to provide orientation data; a camera; a processor connected to the orientation sensors, wherein the processor configured to receive the orientation data and further configured to access image data acquired by the camera; and memory in communication with the processor, wherein the memory is configured to store instructions configured to cause the processor to generate a panoramic map using images from the camera, estimate an orientation of the panoramic map with respect to a world reference frame using the orientation data, determine the orientation of the camera with respect to the panoramic map based on matching at least one feature from an image frame produced by the camera to at least one feature from the panoramic map, determine an orientation of the camera with respect to the world reference frame based on the orientation of the camera with respect to the panoramic map and the orientation of the panoramic map with respect to the world reference frame. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A system comprising:
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means for generating a panoramic map, at a mobile device, based on images captures from a camera; means for using orientation sensors, at a mobile device, to estimate an orientation of the panoramic map with respect to a world reference frame; means for determining the orientation of the camera with respect to the panoramic map based on matching at least one feature from an image frame produced by the camera to at least one feature from the panoramic map; and means for determining an orientation of the camera with respect to the world reference frame based on the orientation of the camera with respect to the panoramic map and the orientation of the panoramic map with respect to the world reference frame. - View Dependent Claims (16, 17, 18, 19, 20)
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21. A non-transitory computer-readable medium including program code stored thereon, comprising:
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program code to generate a panoramic map, at a mobile device, using images from a camera; program code to estimate an orientation of the panoramic map with respect to a world reference frame using orientation data from orientation sensors at a mobile device; program code to determine the orientation of the camera with respect to the panoramic map based on matching at least one feature from an image frame produced by the camera to at least one feature from the panoramic map; program code to determine an orientation of the camera with respect to the world reference frame using the orientation of the camera with respect to the panoramic map and the orientation of the panoramic map with respect to the world reference frame. - View Dependent Claims (22, 23, 24, 25, 26)
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Specification