公开(公告)号：US20230236219A1

公开(公告)日：2023-07-27

申请号：US17648572

申请日：2022-01-21

申请人： GOOGLE LLC

发明人： Yunwen Zhou ,  Ryan Christopher DuToit ,  Abhishek Kar ,  Konstantine Nicholas John Tsotsos ,  Eric Turner ,  Chao Guo

IPC分类号： G01P21/00 ,  G06T7/50 ,  G06T7/80 ,  G06T7/33 ,  G06T7/20 ,  G01P13/00 ,  G01P15/08

CPC分类号： G01P21/00 ,  G06T7/50 ,  G06T7/80 ,  G06T7/33 ,  G06T7/20 ,  G01P13/00 ,  G01P15/08 ,  G06T2207/20084

摘要： Disclosed is a method including receiving a depth map estimated using data based on image and data received from a movement sensor as input, generating an alignment parameter based on the depth map, adding the alignment parameter to a pre-calibration state to define a user operational calibration state, generating scale parameters and shift parameters based on features associated with the data received from the image and movement sensor, and calibrating the image and movement sensor based on the user operational calibration state, the scale parameters and the shift parameters.