Patent · US Active

Method and apparatus for generating three-dimensional pose using multi-modal sensor fusion

US9031809B1 · kind B1 · utility

109Cited by

1References

14Claims

0Family size

Assignee

SRI International · US

Inventors

Rakesh Kumar · Bengaluru, IN
Supun Samarasekera · Princeton, US
Han-Pang Chiu · Princeton Colonial Park, US
Zhiwei Zhu · Plainsboro, US
Taragay Oskiper · Plainsboro, US
Lu Wang · Beijing, CN
Raia Thais Hadsell · London, GB

Key dates

Filing date	Jul 14, 2011
Grant date	May 12, 2015
Priority date	—
Expiry date	Jan 31, 2034

Classification

Technology area (CPC G)Physics
CPC primaryG06V20/20
WIPO fieldComputer technology
WIPO sectorElectrical engineering

Abstract

A method and apparatus for providing three-dimensional navigation for a node comprising an inertial measurement unit for providing gyroscope, acceleration and velocity information (collectively IMU information); a ranging unit for providing distance information relative to at least one reference node; at least one visual sensor for providing images of an environment surrounding the node; a preprocessor, coupled to the inertial measurement unit, the ranging unit and the plurality of visual sensors, for generating error states for the IMU information, the distance information and the images; and an error-state predictive filter, coupled to the preprocessor, for processing the error states to produce a three-dimensional pose of the node.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.