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Visual-based inertial navigation

  • US 9,424,647 B2
  • Filed: 08/12/2014
  • Issued: 08/23/2016
  • Est. Priority Date: 08/12/2013
  • Status: Active Grant
First Claim
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1. An electronic computing system for performing navigation, the electronic computing system comprising an electronic processor and memory operable to implement a sliding-window inverse filter module, wherein the sliding-window inverse filter module is configured to:

  • receive sensor measurements from a pre-processing module, wherein the sensor measurements comprise image data and inertial data for a device;

    transfer information, derived from the sensor measurements, from a first set of variables associated with a first window of time to a second set of variables associated with a second window of time, wherein the first and second windows consecutively overlap in time; and

    output, to a post-processing module, a state of the device based on the transferred information,wherein each window in the pair is associated with a corresponding first information matrix, and each first information matrix is for a plurality of first variables representing a position and/or orientation of at least one object proximate to the device and a plurality of second variables representing a state of the device at two or more points in time, andwherein transferring the information comprises;

    marginalizing at least a subset of the first variables associated with the first information matrix of the first window to obtain a second information matrix, which still maintains the association with the plurality of second variables;

    marginalizing a subset of the second variables associated with the second information matrix to obtain a third information matrix; and

    scaling the third information matrix to obtain a fourth information matrix,wherein the fourth information matrix is a summarized representation of the information about the state of the device and of the position and/or orientation of the objects proximate to the device at points in time when the first window and the second window in the pair overlap.

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