Position-window extension for GNSS and visual-inertial-odometry (VIO) fusion
AssigneeQUALCOMM Incorporated
InventorsUrs Niesen, Jubin Jose, Lei Zhang
Life of this patent
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Abstract
Techniques provided herein are directed toward virtually extending an updated set of output positions of a mobile device determined by a VIO by combining a current set of VIO output positions with one or more previous sets of VIO output positions in such a way that ensure all outputs positions among the various combined sets of output positions are consistent. The combined sets can be used for accurate position determination of the mobile device. Moreover, the position determination further may be based on GNSS measurements.
Claims30
A method of determining a position of a mobile device using Visual-Inertial Odometry (VIO), the method comprising:
- receiving a first set of one or more VIO position values, wherein:
- each VIO position value of the first set of VIO position values is indicative of a position of the mobile device at a respective point in time during a first period of time, and
- the first set of VIO position values includes a first VIO position value for a particular point in time;
- receiving a second set of one or more VIO position values, wherein:
- each VIO position value of the second set of VIO position values is indicative of a position of the mobile device at a respective point in time during a second period of time overlapping, at least in part, with the first period of time, and
- the second set of VIO position values includes a second VIO position value for the particular point in time different than the first VIO position value for the particular point in time;
- and
- determining the position of the mobile device based, at least in part, on the second set of VIO position values and the first set of VIO position values.
A mobile device capable of determining a position using Visual-Inertial Odometry (VIO), the mobile device comprising:
- a memory;
- and
- a processing unit coupled to the memory and configured to cause the mobile device to:
- receive a first set of one or more VIO position values, wherein:
- each VIO position value of the first set of VIO position values is indicative of a position of the mobile device at a respective point in time during a first period of time, and
- the first set of VIO position values includes a first VIO position value for a particular point in time;
- receive a second set of one or more VIO position values, wherein:
- each VIO position value of the second set of VIO position values is indicative of a position of the mobile device at a respective point in time during a second period of time overlapping, at least in part, with the first period of time, and
- the second set of VIO position values includes a second VIO position value for the particular point in time different than the first VIO position value for the particular point in time;
- and
- determine the position of the mobile device based, at least in part, on the second set of VIO position values and the first set of VIO position values.
An apparatus for determining a position of a mobile device using Visual-Inertial Odometry (VIO), the apparatus comprising:
- means for receiving a first set of one or more VIO position values, wherein:
- each VIO position value of the first set of VIO position values is indicative of a position of the mobile device at a respective point in time during a first period of time, and
- the first set of VIO position values includes a first VIO position value for a particular point in time;
- means for receiving a second set of one or more VIO position values, wherein:
- each VIO position value of the second set of VIO position values is indicative of a position of the mobile device at a respective point in time during a second period of time overlapping, at least in part, with the first period of time, and
- the second set of VIO position values includes a second VIO position value for the particular point in time different than the first VIO position value for the particular point in time;
- and
- means for determining the position of the mobile device based, at least in part, on the second set of VIO position values and the first set of VIO position values.
A non-transitory computer-readable medium having instructions thereon for determining a position of a mobile device using Visual-Inertial Odometry (VIO), the instructions including computer code for:
- receiving a first set of one or more VIO position values, wherein:
- each VIO position value of the first set of VIO position values is indicative of a position of the mobile device at a respective point in time during a first period of time, and
- the first set of VIO position values includes a first VIO position value for a particular point in time;
- storing the first set of VIO position values;
- receiving a second set of one or more VIO position values, wherein:
- each VIO position value of the second set of VIO position values is indicative of a position of the mobile device at a respective point in time during a second period of time overlapping, at least in part, with the first period of time, and
- the second set of VIO position values includes a second VIO position value for the particular point in time different than the first VIO position value for the particular point in time;
- and
- determining the position of the mobile device based, at least in part, on the second set of VIO position values and the first set of VIO position values.
Dependencies are inferred from the claim text.