Electronic apparatus, correction method, and program
AssigneeSony Interactive Entertainment Inc.
InventorYosuke Kurihara
Life of this patent
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Abstract
Provided is an electronic apparatus including a vision sensor of an event-driven type including a sensor array having a sensor that generates an event signal when detecting a change of an incident light intensity, an inertial measurement unit (IMU) that is displaced together with the vision sensor, and a correction process section that corrects a measurement result from the IMU or an estimated value based on the measurement result from the IMU, according to the frequency of the event signals.
Claims20
An electronic apparatus comprising:
- a vision sensor of an event-driven type including a sensor array having a sensor configured to generate an event signal when detecting a change of an incident light intensity;
- an inertial measurement unit that is displaced together with the vision sensor;
- and
- a processing circuit configured to:
- receive a measurement result received from the inertial measurement unit and an estimated value based on the measurement result received from the inertial measurement unit, wherein the estimated value includes an attitude angle and a displacement of the electronic apparatus,
- execute a correction process on the measurement result to correct the measurement result when a frequency of event signals generated by the vision sensor is less than a threshold, wherein the frequency of the event signals is based on a number of event signals received within a predetermined period of time, and
- correct the measurement result using an output of the correction process thereby improving an accuracy of the estimated value including the attitude angle and the displacement of the electronic apparatus based on the output of the correction process.
A correction method, comprising:
- receiving a plurality of event signals from a vision sensor of an event-driven type including a sensor array having a sensor that generates the plurality of event signals when detecting a change of an incident light intensity;
- receiving a measurement result from an inertial measurement unit and an estimated value based on the measurement result received from the inertial measurement unit that is displaced together with the vision sensor, wherein the estimated value includes an attitude angle and a displacement of the electronic apparatus;
- executing a correction process on the measurement result to correct the measurement result when a frequency of the plurality of event signals generated by the vision sensor is less than a threshold, wherein the frequency of the plurality of event signals is calculated based on a number of event signals received within a predetermined period of time;
- and
- correcting the measurement result using an output of the correction process thereby improving an accuracy of the estimated value including the attitude angle and the displacement of the electronic apparatus based on the output of the correction process.
A non-transitory, computer readable storage medium containing a computer program, which when executed by a computer, causes a processing circuit included in a control section of an electronic apparatus to perform a correction method by carrying out actions, comprising:
- receiving a plurality of event signals from a vision sensor of an event-driven type including a sensor array having a sensor that generates the plurality of event signals when detecting a change of an incident light intensity;
- receiving a measurement result from an inertial measurement unit and an estimated value based on the measurement result received from the inertial measurement unit that is displaced together with the vision sensor, wherein the estimated value includes an attitude angle and a displacement of the electronic apparatus;
- executing a correction process on the measurement result to correct the measurement result when a frequency of the plurality of event signals generated by the vision sensor is less than a threshold, wherein the frequency of the plurality of event signals is calculated based on a number of event signals received within a predetermined period of time;
- and
- correcting the measurement result using an output of the correction process thereby improving an accuracy of the estimated value including the attitude angle and the displacement of the electronic apparatus based on the output of the correction process.
Dependencies are inferred from the claim text.