Patent ID: 11960296
Assignee: QFEELTECH (BEIJING) CO., LTD.
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 2:
3. The method of claim 2, wherein determining whether the sensing device is in the suspected ineffective state based on the environmental data includes at least one of:
based on a determination that a quantity of image features extracted from the images captured by the sensing device is smaller than a predetermined number, and/or a ratio of unqualified images is greater than a predetermined unqualified image ratio, determining that the image capturing device is in the suspected ineffective state;
after the images are processed to remove noise, based on a determination that an image contrast ratio between a brightest pixel and a darkest pixel in a same image is lower than a predetermined contrast ratio, determining that the image capturing device is in the suspected ineffective state; or
when a same image feature is extracted from multiple acquired images, and when the multiple acquired images are sorted to form an image sequence based on time instances at which the multiple acquired images are captured, based on a determination that a movement trajectory of the same image feature extracted from the image sequence does not match with an estimated motion state provided by the dead reckoning sensor and/or a motion unit, determining that the image capturing device is in the suspected ineffective state.