Techniques for Accurate Pose Estimation
AssigneeApplied Research Associates, Inc.
InventorAlberico Menozzi
Life of this patent
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Abstract
The described technology regards an augmented reality system and method for estimating a position of a location of interest relative to the position and orientation of a display, using a forward buffer to store current and predicted position estimates calculated by the methods of the present invention. Systems of the described technology include including a plurality of sensors, a processing module or other computation means, and a database. Methods of the described technology use data from the sensor package useful to accurately render graphical user interface information on a display.
Claims20
A pose estimation system for use with a display, the system comprising:
- a. a plurality of sensors,
- b. a database comprising geodetic coordinates of a location of interest, and
- c. a processing module communicatively coupled with the database and the sensors, the processing module:
- receiving over time data from the sensors, and data representing the spatial position of the display relative to the sensors, and applies an Extended Kalman Filter (EKF) to the received data to estimate the position and orientation of the display, using a forward buffer to store current and predicted position estimates calculated by the processing module, and calculates a position of the location of interest relative to the display;
- and
- providing a current state estimate through interpolation of state vectors in a forward buffer comprising a plurality of predicted state estimates that are a plurality of time steps ahead.
A method for providing an estimate of position for a location of interest relative to a display, the method comprising the steps of:
- a. receiving sensor data from a plurality of sensors comprising delayed data measurements and data representing the spatial position and orientation of a display,
- b. applying an Extended Kalman Filter (EKF) to the received data and geodetic coordinates of a location of interest, to estimate a position of the location of interest relative to the display, using a forward buffer to store current and predicted position estimates of the display, and
- c. providing a current state estimate through interpolation of state vectors in a forward buffer comprising a plurality of predicted state estimates that are a plurality of time steps ahead.
A pose estimation system for use with a display, the system comprising:
- a. means for receiving sensor data from a plurality of sensors comprising delayed data measurements and data representing the spatial position of a display,
- b. means for applying an Extended Kalman Filter (EKF) to the received data and geodetic coordinates of a location of interest, to estimate a position and orientation of the display, using a forward buffer to store current and predicted position estimates, and calculate the position of a location of interest relative to the display, and
- c. providing a current state estimate through interpolation of state vectors in a forward buffer comprising a plurality of predicted state estimates that are a plurality of time steps ahead.
Dependencies are inferred from the claim text.