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    • 4. 发明授权
    • Method and apparatus for estimating three-dimensional position and orientation through sensor fusion
    • 通过传感器融合估算三维位置和方向的方法和装置
    • US09208565B2
    • 2015-12-08
    • US13408654
    • 2012-02-29
    • Hyong Euk LeeSang Hyun KimChang Kyu Choi
    • Hyong Euk LeeSang Hyun KimChang Kyu Choi
    • G06K9/00G06T7/00
    • G06T7/0042G06T7/73G06T2207/10028G06T2207/30204
    • An apparatus and method of estimating a three-dimensional (3D) position and orientation based on a sensor fusion process. The method of estimating the 3D position and orientation may include determining a position of a marker in a two-dimensional (2D) image, determining a depth of a position in a depth image corresponding to the position of the marker in the 2D image to be a depth of the marker, estimating a 3D position of the marker calculated based on the depth of the marker as a marker-based position of a remote apparatus, estimating an inertia-based position and an inertia-based orientation by receiving inertial information associated with the remote apparatus, estimating a fused position based on a weighted sum of the marker-based position and the inertia-based position, and outputting the fused position and the inertia-based orientation.
    • 基于传感器融合过程估计三维(3D)位置和取向的装置和方法。 估计3D位置和取向的方法可以包括确定二维(2D)图像中的标记的位置,确定与2D图像中的标记的位置相对应的深度图像中的位置的深度为 标记的深度,基于标记的深度计算的标记的3D位置,作为远程​​设备的基于标记的位置,通过接收与...相关联的惯性信息来估计基于惯量的位置和基于惯量的取向 远程装置,基于基于标记的位置和基于惯量的位置的加权和来估计融合位置,并输出所述融合位置和基于惯量的取向。
    • 9. 发明申请
    • METHOD AND APPARATUS FOR ESTIMATING THREE-DIMENSIONAL POSITION AND ORIENTATION THROUGH SENSOR FUSION
    • 通过传感器融合估算三维位置和方位的方法和装置
    • US20130028469A1
    • 2013-01-31
    • US13408654
    • 2012-02-29
    • Hyong Euk LeeSang Hyun KimChang Kyu Choi
    • Hyong Euk LeeSang Hyun KimChang Kyu Choi
    • G06K9/00
    • G06T7/0042G06T7/73G06T2207/10028G06T2207/30204
    • An apparatus and method of estimating a three-dimensional (3D) position and orientation based on a sensor fusion process. The method of estimating the 3D position and orientation may include determining a position of a marker in a two-dimensional (2D) image, determining a depth of a position in a depth image corresponding to the position of the marker in the 2D image to be a depth of the marker, estimating a 3D position of the marker calculated based on the depth of the marker as a marker-based position of a remote apparatus, estimating an inertia-based position and an inertia-based orientation by receiving inertial information associated with the remote apparatus, estimating a fused position based on a weighted sum of the marker-based position and the inertia-based position, and outputting the fused position and the inertia-based orientation.
    • 基于传感器融合过程估计三维(3D)位置和取向的装置和方法。 估计3D位置和取向的方法可以包括确定二维(2D)图像中的标记的位置,确定与2D图像中的标记的位置相对应的深度图像中的位置的深度为 标记的深度,基于标记的深度计算的标记的3D位置,作为远程​​设备的基于标记的位置,通过接收与...相关联的惯性信息来估计基于惯量的位置和基于惯量的取向 远程装置,基于基于标记的位置和基于惯量的位置的加权和来估计融合位置,并输出所述融合位置和基于惯量的取向。