ADAPTIVE SCALE AND/OR GRAVITY ESTIMATION

摘要

Systems apparatus and methods for estimating gravity and/or scale in a mobile device are presented. A difference between an image based pose and an inertia based pose is using to update the estimations of gravity and/or scale. The image based pose is computed from two poses and is scaled with the estimation of scale prior to the difference. The inertia based pose is computed from accelerometer measurements which are adjusted by the estimation for gravity.