Adaptive switching between vision aided INS and vision only pose

US9123135B2 · kind B2 · utility

Assignee

• QUALCOMM Incorporated · US

Inventors

• Arvind Ramanandan · San Diego, US
• Christopher Brunner · San Diego, US
• Mahesh Ramachandran · Dublin, US
• Abhishek Tyagi · San Diego, US
• Daniel Knoblauch · San Francisco, US
• Murali Ramaswamy Chari · San Diego, US

Key dates

• Filing date: Jun 14, 2012
• Grant date: Sep 1, 2015
• Expiry date: Jun 21, 2033

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/10016
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

A mobile device tracks a relative pose between a camera and a target using Vision aided Inertial Navigation System (VINS), that includes a contribution from inertial sensor measurements and a contribution from vision based measurements. When the mobile device detects movement of the target, the contribution from the inertial sensor measurements to track the relative pose between the camera and the target is reduced or eliminated. Movement of the target may be detected by comparing vision only measurements from captured images and inertia based measurements to determine if a discrepancy exists indicating that the target has moved. Additionally or alternatively, movement of the target may be detected using projections of feature vectors extracted from captured images.