| 摘要 |
The invention relates to a method, comprising: providing orientation measurement data of a gyroscope and accelerometer for a device, performing a sensor fusion algorithm for provided orientation measurement data for determining a sensor-based estimate of orientation of the device, and performing a correction step, wherein an viewfinder image matching algorithm is performed for aligning viewfinder frames captured by a camera sensor of the device for determining an error of sensor-based estimate of orientation of the device. The invention further relates to an apparatus and a computer program product that perform the method. The image matching algorithm may comprise feature matching or pixel-to-pixel alignment and may be performed where a rotation rate is below a threshold level or where a confidence level is sufficiently high and may be restricted to sharp frames. |
