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:
Jun. 24, 2014
Filed:
Aug. 24, 2011
Rakesh Kumar, West Windsor, NJ (US);
Supun Samarasekera, Princeton, NJ (US);
Taragay Oskiper, East Windsor, NJ (US);
Rakesh Kumar, West Windsor, NJ (US);
Supun Samarasekera, Princeton, NJ (US);
Taragay Oskiper, East Windsor, NJ (US);
SRI International, Menlo Park, CA (US);
Abstract
An apparatus for providing three-dimensional pose comprising monocular visual sensors for providing images of an environment surrounding the apparatus, an inertial measurement unit (IMU) for providing gyroscope, acceleration and velocity information, collectively IMU information, a feature tracking module for generating feature tracking information for the images, and an error-state filter, coupled to the feature track module, the IMU and the one or more visual sensors, for correcting IMU information and producing a pose estimation based on at least one error-state model chosen according to the sensed images, the IMU information and the feature tracking information.