公开(公告)号：US20190164040A1

公开(公告)日：2019-05-30

申请号：US15926557

申请日：2018-03-20

Applicant: Apple Inc.

Inventor： Oleg Naroditsky ,  Kuen-Han Lin ,  Dimitrios Kottas

IPC: G06N3/04 ,  G06T7/246 ,  G06K9/62 ,  G01S19/47

Abstract: Systems, methods, and computer readable media to track and estimate the accuracy of a visual inertial odometry (VIO) system. Various embodiments are able to receive one or more VIO feature measurements associated with a set of image frames from a VIO system and generate a plurality of feature models to estimate health values for the VIO system. The various embodiments determine a plurality of feature health values with the feature models based on the VIO feature measurements and compare the feature health values with ground truth health scores associated with the set of image frames to determine one or more errors. The feature model parameters are updated based on the comparison with the feature health values with ground truth health scores.

公开(公告)号：US20160350926A1

公开(公告)日：2016-12-01

申请号：US15236008

申请日：2016-08-12

Applicant: Apple Inc. ,  Regents of the University of Minnesota

Inventor： Alex Flint ,  Oleg Naroditsky ,  Christopher P. Broaddus ,  Andriy Grygorenko ,  Stergios Roumeliotis ,  Oriel Bergig

IPC: G06T7/00 ,  G01C21/16 ,  G01C21/20 ,  G06K9/00

CPC classification number: G01C21/165 ,  G01C21/16 ,  G01C21/206 ,  G06K9/00664 ,  G06K9/00671 ,  G06T7/73 ,  G06T2207/20024

Abstract: A method includes: receiving sensor measurements from a pre-processing module, in which the sensor measurements include image data and inertial data for a device; transferring, using a processor, information derived from the sensor measurements, from a first set of variables associated with a first window of time to a second set of variables associated with a second window of time, in which the first and second windows consecutively overlap in time; and outputting, to a post-processing module, a state of the device based on the transferred information.