Reference coordinate system determination
AssigneeQUALCOMM Incorporated
InventorsPrince Gupta, Daniel Wagner, Gerhard Reitmayr, Alessandro Mulloni
Life of this patent
Estimating the term…
Abstract
A method of determining a reference coordinate system includes: obtaining information indicative of a direction of gravity relative to a device; and converting an orientation of a device coordinate system using the direction of gravity relative to the device to produce the reference coordinate system. The method may also include setting an origin of the reference coordinate system and/or determining a scale value of the reference coordinate system. The method may also include refining the reference coordinate system.
Claims16
A method of determining a reference coordinate system for use by a device, the method comprising:
- obtaining an image frame;
- determining a point cloud based on the image frame;
- and
- producing the reference coordinate system based on the point cloud by setting an origin of the reference coordinate system to a geometric center of a substantially planar portion of the point cloud.
A device for determining a reference coordinate system, the device comprising:
- means for obtaining an image frame;
- means for determining a point cloud based on the image frame;
- and
- means for producing the reference coordinate system based on the point cloud, including means for setting an origin of the reference coordinate system to a geometric center of a substantially planar portion of the point cloud.
A mobile device comprising:
- a camera configured to obtain an image frame;
- and
- a processor, communicatively coupled to the camera, configured to:
- determine a point cloud based on the image frame;
- and
- produce the reference coordinate system based on the point cloud by setting an origin of the reference coordinate system to a geometric center of a substantially planar portion of the point cloud.
A non-transitory processor-readable storage medium comprising processor-readable instructions configured to cause a processor of a device to:
- obtain an image frame;
- determine a point cloud based on the image frame;
- produce the reference coordinate system based on the point cloud;
- and
- set an origin of the reference coordinate system to a geometric center of a substantially planar portion of the point cloud.
Dependencies are inferred from the claim text.