公开(公告)号：US12241960B1

公开(公告)日：2025-03-04

申请号：US17008767

申请日：2020-09-01

Applicant: Apple Inc.

Inventor： Oleg Naroditsky ,  Xing Zheng

IPC: G01S13/02 ,  G01S13/42 ,  G01S13/86 ,  G06T7/579 ,  G06T7/77 ,  G06T19/00

Abstract: Various implementations disclosed herein include devices, systems, and methods that determine a transform relating poses of two mobile electronic devices using range date from a ultra-wideband (UWB) sensor and movement data from captured images. In some implementations, a distance is determined between a first mobile device and a second mobile device based on a UWB signal transmitted between the first mobile device and the second mobile device. In some implementations, first movement data corresponding to movement of the first mobile device and second movement data corresponding to movement of the second mobile device are received. The first movement data based on a camera or a sensor on the first mobile device. The second movement data is based on a camera or a sensor on the second mobile device. Then, a transform is determined that relates a pose of the first mobile device to a pose of the second mobile device based on the distance, the first movement data, and the second movement data.