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, including receiving and selectively filtering a plurality of measurement vectors from a rate-gyroscope. 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, wherein one of the sensors is a 3-axis angular rate gyro,
- 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 a plurality of measurement vectors from the rate-gyroscope and selectively filters the measurement vectors based on a magnitude of each of the measurement vectors such that a rate-gyro signal is selectively filtered using a discrete-time filter, the processing module configured to generate a position and orientation estimate of the display based on the filtered measurement vectors and other data from the sensors, and to calculate a position of the location of interest relative to the display.
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 a plurality of measurement vectors from a rate-gyroscope, and selectively filtering the measurement vectors based on a magnitude of each of the measurement vectors such that a rate-gyro signal is selectively filtered using a discrete-time filter;
- b. receiving sensor data from a plurality of sensors comprising delayed data measurements and data representing the spatial position of a display,
- c. generating a position state estimate of the display based on the filtered measurement vectors and the other received data.
A pose estimation system for use with a display, the system comprising
- a. means for receiving a plurality of measurement vectors from a rate-gyroscope, and selectively filtering the measurement vectors based on a magnitude of each of the measurement vectors such that a rate-gyro signal is selectively filtered using a discrete-time filter,
- b. means for receiving sensor data from a plurality of sensors comprising delayed data measurements and data representing the spatial position and orientation of a display,
- c. means for generating a position estimate for the position and orientation of a display, based on the filtered measurement vectors and the other received data, and
- d. means for computing a position of a location of interest in relation to the position and orientation of the display.
Dependencies are inferred from the claim text.