Systems and methods for using a global positioning system velocity in visual-inertial odometry
US10371530B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 13, 2017 |
| Grant date | Aug 6, 2019 |
| Priority date | — |
| Expiry date | Mar 22, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/53
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method performed by an electronic device is described. The method includes determining a predicted velocity relative to Earth corresponding to a first epoch using a camera and an inertial measurement unit (IMU). The method also includes determining, using a Global Positioning System (GPS) receiver, a GPS velocity relative to Earth. The method further includes determining a difference vector between the predicted velocity and the GPS velocity. The method additionally includes refining a bias estimate and a scale factor estimate of IMU measurements proportional to the difference vector. The method also includes refining a misalignment estimate between the camera and the IMU based on the difference vector. The method further includes providing pose information based on the refined bias estimate, the refined scale factor, and the refined misalignment estimate.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.