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. 15, 2020
Filed:
Mar. 12, 2019
Beijing Hjimi Technology Co., Ltd, Beijing, CN;
Hang Wang, Beijing, CN;
Li Li, Beijing, CN;
Zan Sheng, Beijing, CN;
Shuo Li, Beijing, CN;
Xiaojun Zhou, Beijing, CN;
BeiJing Hjimi Technology Co., Ltd, Beijing, CN;
Abstract
A method of determining whether a ground is to be re-detected is provided. In an example, the method includes: an i-th gravitational acceleration vector corresponding to an i-th image frame is acquired from a collecting device; when the i-th gravitational acceleration vector changes relative to an (i−1)-th gravitational acceleration vector corresponding to an (i−1)-th image frame, a value is set to a flag bit of the i-th image frame; it is determined whether the collecting device tends to be stable after a motion according to a number of set flag bits in consecutive image frames; when the collecting device tends to be stable after the motion, a similarity between the i-th gravitational acceleration vector and a ground normal vector corresponding to a current ground equation is determined; and when the similarity is less than a similarity threshold, it is determined that the ground is to be re-detected.