Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness
AssigneeTrifo, Inc.
InventorsGrace Tsai, Zhe Zhang, Shaoshan Liu
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Abstract
The described positional awareness techniques employing visual-inertial sensory data gathering and analysis hardware with reference to specific example implementations implement improvements in the use of sensors, techniques and hardware design that can enable specific embodiments to provide positional awareness to machines with improved speed and accuracy.
Claims20
A method of guiding a mobile platform in an unmapped area, including:
- selecting two or more tracking states from a set of time dependent tracking states;
- detecting when one or more visual sensors has failed or is not updating or is insufficiently updating and whenever one or more visual sensors has failed or is not updating or is insufficiently updating, using a motion detector to control pose estimation by tracking a set of inertial readings from the motion detector, using variance obtained for a plurality of dimensions in the set of inertial readings;
- updating current poses for at least two tracking states of the two or more tracking states within the set of time dependent tracking states based upon the set of inertial readings from the motion detector as tracked;
- and
- guiding the mobile platform using at least one of the updated current poses determined for the at least two tracking states.
A non-transitory computer readable medium having instructions stored thereon for performing a method of guiding a mobile platform in an unmapped area and without producing a map of the unmapped area, which instructions when executed by a processor perform actions including:
- selecting two or more tracking states from a set of time dependent tracking states;
- detecting when one or more visual sensors has failed or is not updating or is insufficiently updating and whenever one or more visual sensors has failed or is not updating or is insufficiently updating, using a motion detector to control pose estimation by tracking a set of inertial readings from the motion detector, using variance obtained for a plurality of dimensions in the set of inertial readings;
- updating current poses for at least two tracking states of the two or more tracking states within the set of time dependent tracking states based upon the set of inertial readings from the motion detector as tracked;
- and
- guiding the mobile platform using at least one of the updated current poses determined for the at least two tracking states.
Dependencies are inferred from the claim text.