Techniques for Accurate Pose Estimation
First Claim
1. A pose estimation system for use with a display, the system comprising:
- a. a plurality of sensors,b. a database comprising geodetic coordinates of a location of interest, andc. a processing module communicatively coupled with the database and the sensors, the processing module receiving over time data from the sensors comprising delayed data measurements, and data representing the spatial position of the display relative to the sensors, and applies an Extended Kalman Filter (EKF) to the received data to estimate the position and orientation of the display, and based upon a retroactive adjustment of a previously rendered position and orientation of the display, estimates the position and orientation of the display using the delayed data measurements and predicts future positions of the display by means of an adjust-update-predict (AUP) cycle, and calculates the location of interest relative to the display, wherein a state estimate is reprocessed based on a delayed measurement within a regular processing interval and wherein past data is reprocessed within a single EKF epoch.
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Accused Products
Abstract
The described technology regards an augmented reality system and method for estimating a position of a location of interest relative to the position and orientation of a display based upon a retroactive adjustment of a previously rendered position and orientation of the display, by means of an adjust-update-predict (AUP) cycle, and calculating the location of interest relative to the position and orientation of the display. Systems of the described technology include including a plurality of sensors, a processing module or other computation means, and a database. Methods of the described technology use data from the sensor package useful to accurately render graphical user interface information on a display.
2 Citations
20 Claims
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1. A pose estimation system for use with a display, the system comprising:
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a. a plurality of sensors, b. a database comprising geodetic coordinates of a location of interest, and c. a processing module communicatively coupled with the database and the sensors, the processing module receiving over time data from the sensors comprising delayed data measurements, and data representing the spatial position of the display relative to the sensors, and applies an Extended Kalman Filter (EKF) to the received data to estimate the position and orientation of the display, and based upon a retroactive adjustment of a previously rendered position and orientation of the display, estimates the position and orientation of the display using the delayed data measurements and predicts future positions of the display by means of an adjust-update-predict (AUP) cycle, and calculates the location of interest relative to the display, wherein a state estimate is reprocessed based on a delayed measurement within a regular processing interval and wherein past data is reprocessed within a single EKF epoch. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for providing an estimate of position for a location of interest relative to a display, the method comprising:
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a. receiving sensor data from a plurality of sensors comprising delayed data measurements and data representing the spatial position and orientation of the display, b. applying an Extended Kalman Filter (EKF) to the received data and geodetic coordinates of a location of interest, to estimate the position and orientation of the display, and calculating the location of interest relative to the display based upon a retroactive adjustment of a previously rendered position estimate of the display, using the delayed data measurements, a recalculation of the estimated position, and a prediction of future positions by means of an adjust-update-predict (AUP) cycle, wherein a state estimate is reprocessed based on a delayed measurement within a regular processing interval and wherein past data is reprocessed within a single EKF epoch. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A pose estimation system for use with a display, the system comprising
a. means for receiving sensor data from a plurality of sensors comprising delayed data measurements and data representing the spatial position of the display, b. means for applying an Extended Kalman Filter (EKF) to the received data and geodetic coordinates of a location of interest, to estimate the position and orientation of the display based upon a retroactive adjustment of a previously rendered position estimate using the delayed data measurements, and recalculating the estimated position and prediction of future positions, by means of an adjust-update-predict (AUP) cycle, and calculating the position of the location of interest relative to the display, and c. means for providing a current state estimate through interpolation of state vectors in a forward buffer comprising a plurality of predicted state estimates that are a plurality of time steps ahead.
Specification