公开(公告)号：US10776993B1

公开(公告)日：2020-09-15

申请号：US16287993

申请日：2019-02-27

Applicant: Snap Inc.

Inventor： Yiming Chen ,  Oliver Woodford

IPC: G06T15/20 ,  H04N13/117 ,  G06F3/01 ,  G06T19/00

Abstract: Aspects of the present disclosure involve a system comprising a computer-readable storage medium storing a program and a method for determining orientation or location of a device. The program and method include receiving data from one or more sensors of a device; generating a first spline that represents location of the device in a world coordinate frame based on the data received from the one or more sensors; generating a second spline that represents orientation of the device in the world coordinate frame based on the data received from the one or more sensors; computing a motion model that represents motion of the device over a continuous time interval based on the first and second splines; and determining an expected location or orientation of the device based on the motion model.