公开(公告)号：US11798293B2

公开(公告)日：2023-10-24

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: G06V20/56 ,  G01C21/20 ,  G06V20/30 ,  H04N23/54

CPC classification number: G06V20/588 ,  G01C21/206 ,  G06V20/30 ,  H04N23/54 ,  G06V2201/06

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.