Adaptive switching between vision aided INS and vision only pose

摘要

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.

主权项

1. A method comprising:
tracking a relative pose between a camera and a target using a contribution from inertial sensor measurements and a contribution from vision based measurements,
wherein the contribution from the inertial sensor measurements is a weighted contribution and the contribution from the vision based measurements is a weighted contribution; detecting movement of the target; and reducing the weighted contribution from the inertial sensor measurements to track the relative pose between the camera and the target when movement of the target is detected.