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.

公开(公告)号：US10564177B2

公开(公告)日：2020-02-18

申请号：US15337531

申请日：2016-10-28

Applicant: Samsung Electronics Co., Ltd.

Inventor： Xue Li ,  Linbo Li ,  Andrey Zobenko ,  Seongwook Song

IPC: G01P15/18

Abstract: A system to recognize user activity includes a filter to form a gravity measurement from a three-dimensional (3D) accelerometer measurement of a user activity; a body component extractor to form a body measurement of the user activity by removing the gravity measurement from the 3D accelerometer measurement; a rotation matrix calculator to form a rotation matrix that is used to rotate the extracted gravity to align with a predetermined direction, and to rotate the 3D accelerometer measurements and the body measurement to be the input to features determiner module; and a features determiner to determine values of a predetermined number of features of the user activity based on the rotated 3D accelerometer measurement and the rotated body measurement in which the predetermined number of features are invariant under arbitrary rotation of the accelerometer measurement around the predetermined direction.