Invention Grant
US09159133B2 Adaptive scale and/or gravity estimation 有权
自适应尺度和/或重力估计

Adaptive scale and/or gravity estimation
Abstract:
Systems, apparatus and methods for estimating gravity and/or scale in a mobile device are presented. A difference between an image-based pose and an inertia-based pose is using to update the estimations of gravity and/or scale. The image-based pose is computed from two poses and is scaled with the estimation of scale prior to the difference. The inertia-based pose is computed from accelerometer measurements, which are adjusted by the estimation for gravity.
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