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:
Apr. 28, 2020
Filed:
Oct. 12, 2018
Robert Bosch Gmbh, Stuttgart, DE;
Benzun Pious Wisely Babu, San Jose, CA (US);
Zhixin Yan, Sunnyvale, CA (US);
Mao Ye, San Jose, CA (US);
Liu Ren, Cupertino, CA (US);
Robert Bosch GmbH, Stuttgart, DE;
Abstract
A method for motion estimation in an augmented reality (AR) system includes receiving inertial sensor data and image data during movement of the AR system generating a probability map based on the inertial sensor data and the image data, the probability map corresponding to one frame in the image data and including probability values indicating that each pixel in the one frame is in an inertial coordinate frame or a local coordinate frame with a convolutional neural network encoder/decoder, identifying visual observations of at least one landmark in the local coordinate frame based on the image data and the probability map, and generating an estimate of secondary motion in the local coordinate frame based on a first prior state in a hidden Markov model (HMM) corresponding to the local coordinate frame and the visual observations of the at least one landmark in the local coordinate frame.