Adaptive switching between a vision aided inertial camera pose estimation and a vision based only camera pose estimation

Abstract

A mobile device tracks a relative pose between a camera and a target using Vision aided Inertial Navigation System (VINS), that includes a contribution from inertial sensor measurements and a contribution from vision based measurements. When the mobile device detects movement of the target, the contribution from the inertial sensor measurements to track the relative pose between the camera and the target is reduced or eliminated. Movement of the target may be detected by comparing vision only measurements from captured images and inertia based measurements to determine if a discrepancy exists indicating that the target has moved. Additionally or alternatively, movement of the target may be detected using projections of feature vectors extracted from captured images.

Description

[0001] Cross References to Related Applications [0002] This application claims Serial No. 13 / 523,634, filed June 14, 2012 and entitled "Adaptive Switching Between Vision Aided INS and Vision Only Pose" Priority is given to the US application assigned to the present assignee and incorporated herein by reference. technical field [0003] Embodiments of the subject matter described herein relate to pose determination, and more particularly, to using vision-based techniques for pose determination. Background technique [0004] In augmented reality (AR) type applications, the pose (translation and pose) of the camera relative to the imaging environment is determined and tracked. In a visual-only pose approach, captured images (eg, video frames) are used to determine and track the pose of the camera relative to feature-rich targets in the environment. For example, only the visual pose is estimated at each frame, and a statistical model is used to predict the pose at the next ...

AI Technical Summary

Problems solved by technology

Nevertheless, in some cases VINS methods perform poorly compared to vision-only methods

Furthermore, the performance of the VINS method may degrade based on conditions external to the mobile device, and thus, the degradation may be unpredictable

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