Angular velocity detection device, image display apparatus, angular velocity detection method, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorToshiaki Sato
Life of this patent
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Abstract
An angular velocity detection device includes an angular velocity sensor configured to detect angular velocity, an acquisition unit configured to acquire orientation information in a three-dimensional space on a moving object including the angular velocity sensor, a calculation unit configured to calculate estimated angular velocity based on the acquired orientation information, and a correction unit configured to correct an output of the angular velocity sensor based on the angular velocity detected by the angular velocity sensor and the estimated angular velocity calculated by the calculation unit.
Claims15
A head mounted display comprising:
- a camera configured to capture an image of a real space;
- an angular velocity sensor configured to detect angular velocity;
- at least one processor;
- and
- a memory coupled to the at least one processor storing instructions that when executed by the at least one processor, perform to:
- acquire orientation information of the head mounted display;
- calculate estimated angular velocity based on the orientation information;
- and
- correct an output of the angular velocity sensor by using a calculated zero-point bias of the angular velocity sensor,
- wherein the acquire acquires the orientation information by detecting a marker or a natural feature of the real space captured in the image, and
- wherein the calculated zero-point bias is calculated by using the detected angular velocity and the calculated estimated angular velocity.
An angular velocity detection method of a head mounted display, the method comprising:
- detecting angular velocity by an angular velocity sensor of the head mounted display;
- acquiring orientation information of the head mounted display;
- calculating estimated angular velocity based on the acquired orientation information;
- and
- correcting an output of the angular velocity sensor by using a calculated zero-point bias of the angular velocity sensor,
- wherein the head mounted display includes a camera for capturing an image of the real space,
- wherein the acquiring acquires the orientation information by detecting a marker or a natural feature of the real space captured in the image, and
- wherein the calculated zero-point bias is calculated by using the detected angular velocity and the calculated estimated angular velocity.
A non-transitory computer-readable storage medium storing a program that causes a computer to perform:
- detecting angular velocity by an angular velocity sensor of a head mounted display;
- acquiring orientation information of the head mounted display;
- calculating estimated angular velocity based on the acquired orientation information;
- and
- correcting an output of the angular velocity sensor by using a calculated zero-point bias of the angular velocity sensor,
- wherein the head mounted display includes a camera for capturing an image of the real space,
- wherein the acquiring acquires the orientation information by detecting a marker or a natural feature of the real space captured in the image, and
- wherein the calculated zero-point bias is calculated by using the detected angular velocity and the calculated estimated angular velocity.
Dependencies are inferred from the claim text.