Qualcomm Incorporated

Snap Inc.

Yiming Chen

Murali Chari

Arvind Ramanandan

Avdhut Joshi

Oliver Woodford

John Steven Lima

Aspects of the present disclosure involve a system comprising a computer-readable storage medium storing a program and a method for determining orientation or location of a device. The program and method include receiving data from one or more sensors of a device; generating a first spline that represents location of the device in a world coordinate frame based on the data received from the one or more sensors; generating a second spline that represents orientation of the device in the world coordinate frame based on the data received from the one or more sensors; computing a motion model that represents motion of the device over a continuous time interval based on the first and second splines; and determining an expected location or orientation of the device based on the motion model.

Continuous device pose representation in AR/VR displays

A method for visual inertial odometry (VIO)-aided global positioning is described. The method includes updating an extended Kalman filter (EKF) state including a current pose and a sliding window of multiple prior poses. The sliding window includes poses at a number of most recent global positioning system (GPS) time epochs. Updating the EKF includes updating an EKF covariance matrix for the prior poses and the current pose in the EKF state. The method also includes determining, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose. The method further includes determining an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix. The method additionally includes using the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs.

Systems and methods for using a sliding window of global positioning epochs in visual-inertial odometry

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San Diego, CA, United States of America

Yiming Chen