公开(公告)号：US20170336439A1

公开(公告)日：2017-11-23

申请号：US15596016

申请日：2017-05-16

Applicant: Google Inc.

Inventor： Mingyang Li ,  Joel Hesch ,  Zachary Moratto

IPC: G01P21/00 ,  G01C19/00 ,  G06F3/01 ,  G06F17/18 ,  G06T7/73

CPC classification number: G01P21/00 ,  G01C19/00 ,  G01S5/0294 ,  G06F3/011 ,  G06F3/038 ,  G06F17/18 ,  G06T7/74

Abstract: Fault detection for real-time visual-inertial odometry motion tracking. A fault detection system allows immediate detection of error when the motion of a device cannot be accurately determined. The system includes subdetectors that operate independently and in parallel to a main system on a device to determine if a condition exists which results in a main system error. Each subdetector covers a phase of a six-degrees of freedom (6DOF) estimation. If any of the subdetectors detect an error, a fault is output to the main system to indicate a motion tracking failure.