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.
1 Assignment
0 Petitions
Accused Products
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 determines 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.
-
Citations
20 Claims
-
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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A head-worn display apparatus, configured to provide a conformal near-to-eye (NTE) display, the apparatus comprising:
-
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)
-
-
15. A non-transitory, computer-readable medium containing instructions thereon, which, when executed by a processor, perform a method comprising:
-
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)
-
Specification