Determining pose of handheld object in environment
US10628711B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 24, 2018 |
| Grant date | Apr 21, 2020 |
| Priority date | — |
| Expiry date | Jul 17, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T7/73
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
One disclosed example provides a method for determining a pose of a handheld object in a surrounding environment. Optical pose data is stored in an image queue of a first filter. IMU data is received from an IMU of the handheld object and stored in an IMU queue of the first filter. Using at least a portion of the optical pose data and the IMU data, an initial pose of the handheld object is determined and outputted. The method determines that either the image queue or the IMU queue is empty. A second filter comprising the one empty queue and the other non-empty queue is instantiated as a copy of the first filter. Using the data from the non-empty queue in the second filter, the initial pose of the handheld object is updated to an updated pose, and the updated pose is outputted.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.