公开(公告)号：US20220414919A1

公开(公告)日：2022-12-29

申请号：US17726124

申请日：2022-04-21

Applicant: Samsung Electronics Co., Ltd.

Inventor： Abhishek TYAGI ,  Yangwen Liang ,  Shuangquan Wang ,  Dongwoon Bai ,  Vignesh Sethuraman ,  Xue Li

IPC: G06T7/73 ,  G01C21/16 ,  G06T7/579

Abstract: A method and an apparatus are provided for performing visual inertial odometry (VIO). Measurements are processed from an inertial measurement unit (IMU), a camera, and a depth sensor. Keyframe residue including at least depth residue is determined based on the processed measurements. A sliding window graph is generated and optimized based on factors derived from the keyframe residue. An object pose is estimated based on the optimized sliding window graph.