Gyroscope conditioning and gyro-camera alignment

US9013617B2 · kind B2 · utility

Assignee

• QUALCOMM Incorporated · US

Inventors

• Mahesh Ramachandran · Dublin, US
• Christopher Brunner · San Diego, US
• Murali Ramaswamy Chari · San Diego, US
• Serafin Diaz Spindola · San Diego, US

Key dates

• Filing date: Oct 12, 2012
• Grant date: Apr 21, 2015
• Expiry date: Apr 16, 2033

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30244
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

An apparatus and method for generating parameters for an application, such as an augmented reality application (AR app), using camera pose and gyroscope rotation is disclosed. The parameters are estimated based on pose from images and rotation from a gyroscope (e.g., using least-squares estimation with QR factorization or a Kalman filter). The parameters indicate rotation, scale and/or non-orthogonality parameters and optionally gyroscope bias errors. In addition, the scale and non-orthogonality parameters may be used for conditioning raw gyroscope measurements to compensate for scale and non-orthogonality.