Map-aided inertial odometry with neural network for augmented reality devices

A computer program product comprising a nontransitory storage medium, the computer program product including code that, when executed by processing circuitry, causes the processing circuitry to perform a method, the method comprising:

• receiving inertial measurement unit (IMU) data from an IMU, the IMU being connected to a world-facing camera in a location;
• receiving image data representing an image of the location;
• generating first six-degree-of-freedom pose data based on the image data and a map of the location, the first six-degree-of-freedom pose data representing a first position and orientation of the IMU in a world coordinate system;
• generating second six-degree-of-freedom pose data based on the IMU data, the second six-degree-of-freedom pose data representing a second position and orientation of the IMU in the world coordinate system;
• and
• generating corrected six-degree-of-freedom pose data of the IMU based on the first six-degree-of-freedom pose data and the second six-degree-of-freedom pose data.

An apparatus, comprising:

• memory;
• and
• processing circuitry coupled to the memory, the processing circuitry being configured to:
• receive inertial measurement unit (IMU) data from an IMU, the IMU being connected to a world-facing camera in a location;
• receive image data representing an image of the location;
• generate first six-degree-of-freedom pose data based on the image data and a map of the location, the first six-degree-of-freedom pose data representing a first position and orientation of the IMU in a world coordinate system;
• generate second six-degree-of-freedom pose data based on the IMU data, the first six-degree-of-freedom pose data of the IMU representing a second position and orientation of the IMU in the world coordinate system;
• and
• generate corrected six-degree-of-freedom pose data based on the first six-degree-of-freedom pose data and the second six-degree-of-freedom pose data.