Relative inertial measurement system with visual correction
AssigneeApple Inc.
InventorsArthur Y. Zhang, Sonca Teng
Life of this patent
Estimating the term…
Abstract
Methods and systems for relative inertial measurement may include a user device comprising an inertial measurement device and/or a camera. A second inertial measurement device may be configured to move with a reference frame. One or more processors may receive inertial measurements from the first and second inertial measurement devices and determine movement of the user device relative to the reference frame by comparing the received inertial measurements. Additionally reference objects in a view of a camera may be used to calibrate the determined motion of the user device within the reference frame.
Claims20
A system comprising:
- a user device comprising an inertial measurement device configured to measure movement of the user device;
- an additional inertial measurement device that moves with a reference frame;
- a camera that moves with the reference frame;
- and
- a memory storing program instructions that when executed on one or more processors, causes the one or more processors to implement a reference frame motion module, configured to:
- determine, at a first frequency, motion information for the reference frame based, at least in part, on measurements from the additional inertial measurement device;
- adjust, at another frequency, the motion information for the reference frame based, at least in part, on data captured by the camera;
- and
- provide the motion information for the reference frame to the user device, wherein the user device is configured to determine motion of the user device relative to the reference frame based, at least in part, on the provided motion information for the reference frame.
A reference frame motion measurement system comprising:
- an inertial measurement device that moves with a reference frame;
- a camera that moves with the reference frame;
- and
- a memory storing program instructions that when executed on one or more processors, causes the one or more processors to implement a motion module configured to:
- determine, at a first frequency, motion information for the reference frame based, at least in part, on measurements from the inertial measurement device;
- adjust, at another frequency, the motion information for the reference frame based, at least in part, on data captured by the camera;
- and
- provide the motion information for the reference frame to a user device, wherein the user device determines motion of the user device relative to the reference frame based, at least in part, on the provided motion information.
A method comprising:
- measuring motion of a reference frame at a first frequency based, at least in part, on measurements from an inertial measurement device;
- adjusting the motion information for the reference frame at another frequency based, at least in part, on data captured by a camera coupled to a structure that moves with the reference frame;
- and
- providing the motion information for the reference frame to a user device, wherein the user device determines motion of the user device relative to the reference frame based, at least in part, on the provided motion information from the reference frame motion measurement device.
Dependencies are inferred from the claim text.