ADAPTIVE SWITCHING BETWEEN A VISION AIDED INTERTIAL CAMERA POSE ESTIMATION AND A VISION BASED ONLY CAMERA POSE ESTIMATION

摘要

The mobile device tracks the relative pose between the camera and the target using a vision assisted inertial navigation system (VINS) that includes contributions from inertial sensor measurements and contributions from vision-based measurements. When the mobile device detects movement of the target, the contribution from the inertial sensor measurements is reduced or eliminated to track the relative pose between the camera and the target. The movement of the target may be detected by comparing the inertial-based measurements and the non-limited measurements from the captured images to determine if there is a mismatch indicating that the target has moved. Additionally or alternatively, movement of the target may be detected using projections of feature vectors extracted from the captured images.