Radar aided visual inertial odometry initialization
AssigneeQUALCOMM Incorporated
InventorUrs Niesen
Life of this patent
Estimating the term…
Abstract
Various embodiments disclose a device with one or more processors which may be configured to translate a radio detection and ranging (RADAR) reference depth map into depth information in at least one image plane of at least one camera, to form a three-dimensional RADAR depth image. The 3D RADAR depth image includes a depth estimate of each pixel. The one or more processors may also be configured to initialize a RADAR-aided visual inertial odometer based on the depth estimates from the RADAR reference depth image to track the device position.
Claims30
A device comprising:
- one or more processors configured to:
- translate a radio detection and ranging (RADAR) reference depth map into depth information in at least one image plane of at least one camera, to form a three-dimensional RADAR depth image, wherein the 3D RADAR depth image includes a depth estimate of each pixel;
- and
- initialize a RADAR-aided visual inertial odometer based on the depth estimates from the RADAR reference depth image to track the device position.
A method comprising:
- translating a radio detection and ranging (RADAR) reference depth map into depth information in at least one image plane of at least one camera, to form a three-dimensional RADAR depth image, wherein the 3D RADAR depth image includes a depth estimate of each pixel;
- and
- initializing a RADAR-aided visual inertial odometer based on the depth estimates from the RADAR reference depth image to track a device position.
An apparatus comprising:
- means for translating a radio detection and ranging (RADAR) reference depth map into depth information in at least one image plane of at least one camera, to form a three-dimensional (3D) RADAR depth image, wherein the 3D RADAR depth image includes a depth estimate of each pixel;
- and
- means for initializing a visual inertial odometer based on the depth estimates from the RADAR reference depth image to track the device position.
A non-transitory computer-readable storage medium having stored thereon instructions that, when executed, cause one or more processors of a device to:
- translate a radio detection and ranging (RADAR) reference depth map into depth information in at least one image plane of at least one camera, to form a three-dimensional (3D) RADAR depth image, wherein the 3D RADAR depth image includes a depth estimate of each pixel;
- and
- initialize a RADAR-aided visual inertial odometer based on the depth estimates from the RADAR reference depth image to track the device position.
Dependencies are inferred from the claim text.