Gyroscope conditioning and gyro-camera alignment

Abstract

An apparatus and method for generating parameters for an application, such as an augmented reality application (AR app), using camera pose and gyroscope rotation is disclosed. The parameters are estimated based on pose from images and rotation from a gyroscope (e.g., using least-squares estimation with QR factorization or a Kalman filter). The parameters indicate rotation, scale and / or non-orthogonality parameters and optionally gyroscope bias errors. In addition, the scale and non-orthogonality parameters may be used for conditioning raw gyroscope measurements to compensate for scale and non-orthogonality.

Description

[0001] Cross References to Related Applications [0002] This application claims priority to U.S. Application Serial No. 13 / 651,055, filed October 12, 2012, and entitled "Gyroscope conditioning and gyro-camera alignment," which states The application is hereby incorporated by reference in its entirety. technical field [0003] The present disclosure relates to systems, apparatus, and methods for generating parameters for use in applications such as augmented reality applications, and in some aspects for adjusting gyroscope measurements. Background technique [0004] An increasing number of modern smartphones include one or more cameras and various sensors. Inertial sensors such as gyroscopes and accelerometers, which sense motion, are especially important due to their ability to measure angular velocity and acceleration, and at high sampling rates. These sensors can be used to enhance augmented reality (AR) applications on smartphones. In reference-based tracking, the ma...

AI Technical Summary

Problems solved by technology

However, it is often difficult to adjust the gyroscopes to, for example, accurately calibrate the alignment of the gyroscopes relative to the camera, and determine the scale and non-orthogonality parameters of the gyroscopes

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