公开(公告)号：US10955245B2

公开(公告)日：2021-03-23

申请号：US16399977

申请日：2019-04-30

Applicant: Samsung Electronics Co., Ltd.

Inventor： Long Le ,  Vitali Loseu ,  Sourabh Ravindran

IPC: G06T7/00 ,  G01C21/16 ,  G06T7/70 ,  G01P13/00 ,  G06F3/14 ,  G06T7/20

Abstract: An electronic device, method, and computer readable medium for accurate, low latency pose fusion architecture for SLAM are provided. The electronic device includes an IMU sensor, a camera, a display, and a processor coupled to the IMU sensor, the camera, and the display. The processor determines a vision pose in a camera coordinate based on the captured vision data; transforms the vision pose from the camera coordinate to an IMU coordinate; applies a scale factor, based on a combination of the vision pose and an IMU pose in the IMU coordinate, to the vision pose; fuses the scaled vision pose and the IMU pose into a fused pose in a temporally distributed manner; and outputs the fused pose for use with the display.

公开(公告)号：US20200348138A1

公开(公告)日：2020-11-05

申请号：US16399977

申请日：2019-04-30

Applicant: Samsung Electronics Co., Ltd.

Inventor： Long Le ,  Vitali Loseu ,  Sourabh Ravindran

IPC: G01C21/16 ,  G06T7/70 ,  G06T7/20 ,  G06F3/14 ,  G01P13/00

Abstract: An electronic device, method, and computer readable medium for accurate, low latency pose fusion architecture for SLAM are provided. The electronic device includes an IMU sensor, a camera, a display, and a processor coupled to the IMU sensor, the camera, and the display. The processor determines a vision pose in a camera coordinate based on the captured vision data; transforms the vision pose from the camera coordinate to an IMU coordinate; applies a scale factor, based on a combination of the vision pose and an IMU pose in the IMU coordinate, to the vision pose; fuses the scaled vision pose and the IMU pose into a fused pose in a temporally distributed manner; and outputs the fused pose for use with the display.