US 2026/0219729 A1 · METHOD, APPARATUS AND SYSTEM FOR DETERMINING RELATIVE POSE, AND DEVICE AND MEDIUM

Abstract

Embodiments of the present disclosure disclose a method and apparatus for determining a relative pose, a system, a device and a medium. A specific implementation solution is as follows: at a current time, acquiring a current image, first inertial data, and second inertial data respectively by an image sensor, a first inertial measurement unit, and a second inertial measurement unit; predicting a first pose of the head-mounted display device relative to a carrier at the current time based on the first inertial data, the second inertial data, and a historical pose of the head-mounted display device relative to the carrier at the previous time; predicting a second pose of the head-mounted display device relative to the carrier at the current time based on the current image and a pre-constructed offline map model of the carrier; and fusing the first pose with the second pose, and determining a relative pose of the head-mounted display device relative to the carrier at the current time.

Claims20

Dependent claims

A method for determining a relative pose, which is used for determining a relative pose of a head-mounted display device relative to a movable carrier, the head-mounted display device being provided with an image sensor and a first motion sensor, the movable carrier is provided with a second motion sensor, and the head-mounted display device being located inside the movable carrier, the method comprising:

acquiring a current image, first inertial data, and second inertial data respectively by the image sensor, the first motion sensor, and the second motion sensor, at a current time;
predicting a first pose of the head-mounted display device relative to the movable carrier based on the first inertial data and the second inertial data;
predicting a second pose of the head-mounted display device relative to the movable carrier at the current time, based on the current image and a pre-constructed offline map model of the movable carrier;
fusing the first pose with the second pose;
and
determining the relative pose of the head-mounted display device relative to the movable carrier at the current time.

3 more elements

An extended reality system, comprising a head-mounted display device a first motion sensor, a second motion sensor arranged in a movable carrier, and an apparatus for determining a relative pose of a head-mounted display device relative to the movable carrier, wherein the head-mounted display device is provided with an image sensor, and the head-mounted display device being located inside the movable carrier,

the extended reality system is configured to:
acquire a current image, first inertial data and second inertial data respectively by the image sensor, the first motion sensor and the second motion sensor, at a current time;
predict a first pose of the head-mounted display device relative to the movable carrier based on the first inertial data and the second inertial data;
predict a second pose of the head-mounted display device relative to the movable carrier at the current time, based on the current image and a pre-constructed offline map model of the movable carrier;
fuse the first pose with the second pose;
and
determine the relative pose of the head-mounted display device relative to the movable carrier at the current time.

4 more elements

Dependencies are inferred from the claim text.

Method, apparatus and system for determining relative pose, and device and medium

Life of this patent

Method, apparatus and system for determining relative pose, and device and medium

Life of this patent

Abstract

Claims20