The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 11, 2018
Filed:
Oct. 07, 2015
Google Inc., Mountain View, CA (US);
Joel Hesch, Mountain View, CA (US);
Esha Nerurkar, Mountain View, CA (US);
Google LLC, Mountain View, CA (US);
Abstract
An electronic device includes one or more imaging sensors (e.g, imaging cameras) and includes one or more non-image sensors, such as an inertial measurement unit (IMU), that can provide information indicative of the pose of the electronic device. The electronic device estimates its pose based on two independent sources of pose information: pose information generated at a relatively high rate based on non-visual information generated by the non-image sensors and pose information generated at a relatively low rate based on imagery captured by the one or more imaging sensors. To achieve both a high pose-estimation rate and high degree of pose estimation accuracy, the electronic device adjusts a pose estimate based on the non-visual pose information at a high rate, and at a lower rate spatially smoothes the pose estimate based on the visual pose information.