Robust device motion detection

摘要

Systems and approaches are provided for robustly determining the motion of a computing device. Multiple cameras on the device can each capture a sequence of images, and the images can be analyzed to determine motion of the device with respect to a user, an object, or scenery captured in the images. The estimated motion may be complemented with measurements from an inertial sensor such as a gyroscope or an accelerometer to provide more accurate estimations of device motion than can be provided by image data or inertial sensor data alone. A computing device can then be configured to detect device motion as user input such as to navigate a user interface or to remotely control movement of another electronic device.

主权项

1. A computing device, comprising:
one or more processors; a display element; a first camera; a second camera; a third camera; a fourth camera, the first camera, the second camera, the third camera and the fourth camera arranged on a same surface as the display element; and memory including instructions that, when executed by the one or more processors, cause the computing device to:
capture a first image set of images at a first time using the first camera;capture a second image at the first time using the second camera;capture a third image at the first time using the third camera;capture a fourth image at the first time using the fourth camera;capture a fifth image at a second time using the first camera;capture a sixth image at the second time using the second camera;capture a seventh image at the second time using the third camera;capture an eighth image at the second time using the fourth camera;determine a first change in position of the first camera based at least in part by analyzing first feature points in the first image and first corresponding feature points in the fifth image;determine a second change in position of the second camera based at least in part by analyzing second feature points in the second image and second corresponding feature points in the sixth image;determine a third change in position of the third camera based at least in part by analyzing third feature points in the third image and third corresponding feature points in the seventh image;determine a fourth change in position of the fourth camera based at least in part by analyzing fourth feature points in the fourth image and fourth corresponding feature points in the eighth image; anddetermine at least one of a rotation or a translation of the computing device based at least in part upon the first change in position, the second change in position, the third change in position, the fourth change in position, a first distance between the first camera and the second camera, a second distance between the first camera and the third camera, a third distance between the first camera and the fourth camera, a fourth distance between the second camera and the third camera, a fifth distance between the second camera and the fourth camera, and a sixth distance between the third camera and the fourth camera.