公开(公告)号：US11740321B2

公开(公告)日：2023-08-29

申请号：US15926557

申请日：2018-03-20

Applicant: Apple Inc.

Inventor： Oleg Naroditsky ,  Kuen-Han Lin ,  Dimitrios Kottas

IPC: G01S5/16 ,  G06T7/246 ,  G01S19/47 ,  G06F18/21 ,  G06F18/2413 ,  G06N3/042 ,  G06V10/764 ,  G01S19/52

CPC classification number: G01S5/16 ,  G01S19/47 ,  G06F18/217 ,  G06F18/24133 ,  G06N3/042 ,  G06T7/251 ,  G06V10/764 ,  G01S19/52 ,  G06F2218/12 ,  G06V2201/03

Abstract: Systems, methods, and computer readable media to track and estimate the accuracy of a visual inertial odometry (VIO) system. Various embodiments are able to receive one or more VIO feature measurements associated with a set of image frames from a VIO system and generate a plurality of feature models to estimate health values for the VIO system. The various embodiments determine a plurality of feature health values with the feature models based on the VIO feature measurements and compare the feature health values with ground truth health scores associated with the set of image frames to determine one or more errors. The feature model parameters are updated based on the comparison with the feature health values with ground truth health scores.

公开(公告)号：US20190164040A1

公开(公告)日：2019-05-30

申请号：US15926557

申请日：2018-03-20

Applicant: Apple Inc.

Inventor： Oleg Naroditsky ,  Kuen-Han Lin ,  Dimitrios Kottas

IPC: G06N3/04 ,  G06T7/246 ,  G06K9/62 ,  G01S19/47

Abstract: Systems, methods, and computer readable media to track and estimate the accuracy of a visual inertial odometry (VIO) system. Various embodiments are able to receive one or more VIO feature measurements associated with a set of image frames from a VIO system and generate a plurality of feature models to estimate health values for the VIO system. The various embodiments determine a plurality of feature health values with the feature models based on the VIO feature measurements and compare the feature health values with ground truth health scores associated with the set of image frames to determine one or more errors. The feature model parameters are updated based on the comparison with the feature health values with ground truth health scores.