Real-time pose estimation system using inertial and feature measurements
First Claim
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1. A method for performing real-time pose tracking of a platform moving in an environment comprising:
- capturing data from at least an inertial sensor and a visual sensor on the moving platform, the data from the visual sensor including images;
identifying in the data captured by the visual sensor a plurality of features in the environment and performing measurements on the identified features;
estimating characteristics of the features from the measurements, including the number of images in which the features can be tracked;
selecting from a plurality of algorithms an algorithm to be used for processing each of the measurements using the estimated characteristics of the features; and
processing each of the measurements using the selected algorithm for that measurement to track the pose of the platform.
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Abstract
A hybrid estimator system using visual and inertial sensors for real-time pose tracking on devices with limited processing power using at least one processor, a memory, a storage and communications through a protocol and one or more than one software module for a hybrid estimator, real-time algorithm selection to process different measurements, statistical learning for these characteristics to compute the expected device computing cost of any strategy for allocating measurements to algorithms, and algorithm selection based on the statistical learning module.
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Citations
10 Claims
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1. A method for performing real-time pose tracking of a platform moving in an environment comprising:
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capturing data from at least an inertial sensor and a visual sensor on the moving platform, the data from the visual sensor including images; identifying in the data captured by the visual sensor a plurality of features in the environment and performing measurements on the identified features; estimating characteristics of the features from the measurements, including the number of images in which the features can be tracked; selecting from a plurality of algorithms an algorithm to be used for processing each of the measurements using the estimated characteristics of the features; and processing each of the measurements using the selected algorithm for that measurement to track the pose of the platform. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification