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 user device, comprising:
- an inertial measurement device configured to measure movement of the user device;
- a camera;
- 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:
- receive motion information for a reference frame;
- determine, at a particular frequency, motion information for the user device relative to the reference frame based, at least in part, on measurements from the inertial measurement device and the received motion information for the reference frame;
- and
- adjust, at a different frequency, the motion information for the user device relative to the reference frame based, at least in part, on a difference between motion of the user device determined based on measurements from the inertial measurement device of the user device and motion of the user device determined based on an identified object in a view of the camera of the user device.
A non-transitory, computer-readable, storage medium, storing program instructions, that when executed on or across one or more processors, cause the one or more processors to:
- receive motion information for a reference frame;
- determine, at a particular frequency, motion information for a user device relative to the reference frame based, at least in part, on measurements from an inertial measurement device of the user device and the received motion information for the reference frame;
- and
- adjust, at a different frequency, the motion information for the user device relative to the reference frame based, at least in part, on a difference between motion of the user device determined based on measurements from the inertial measurement device of the user device and motion of the user device determined based on an identified object in a view of a camera of the user device.
A method, comprising:
- receiving motion information for a reference frame;
- determining, at a particular frequency, motion information for a user device relative to the reference frame based, at least in part, on measurements from an inertial measurement device of the user device and the received motion information for the reference frame;
- and
- adjusting, at a different frequency, the motion information for the user device relative to the reference frame based, at least in part, on a difference between motion of the user device determined based on measurements from the inertial measurement device of the user device and motion of the user device determined based on an identified object in a view of a camera of the user device.
Dependencies are inferred from the claim text.