公开(公告)号：US20200210719A1

公开(公告)日：2020-07-02

申请号：US16727435

申请日：2019-12-26

Applicant: Sony Mobile Communications Inc.

Inventor： Peter LJUNG ,  Hannes BERGKVIST ,  Jim RASMUSSON ,  Johan WADMAN ,  Magnus INGELSTEN ,  Ivar BERGKVIST

IPC: G06K9/00 ,  H04N5/225 ,  G01C21/20

Abstract: A device, system and method for determining a position of a movable object on a two-dimensional surface obtains, via an image capture device attached to the movable object, at least one image of a portion of the two-dimensional surface. At one virtual marker is identified in at least one image, and a previously determined estimated position of the at least one virtual marker is retrieved. The previously determined estimated position determined from a combination of an image of at least one anchor point on the two-dimensional surface, the at least one anchor point defining a unique position on the two-dimensional surface, and odometry measurements based on at least two images of the two-dimensional surface. The position of the movable object on the two-dimensional surface is determined from the estimated position of the at least one virtual marker.