Patent ID: 9303999
Filing Date: 2016-04-05
CPC Classification: G01C,G01S,G06K,G06T,H04N

Claim Text:
1. A method comprising: receiving data from an inertial measurement unit (IMU) of a device for a sliding time window; receiving images from a camera of the device for the sliding time window; determining an IMU estimation of motion of the device based on the data from the IMU; determining a camera estimation of motion of the device based on feature tracking in the images; determining, from the camera estimation of motion, an indicator of the device being approximately stationary; in response to the indicator of the device being approximately stationary, determining one or more of a position or a velocity of the device for the sliding time window using information from a component of the device other than the IMU; and determining an overall estimation of motion of the device for the sliding time window as supported by the data from the IMU and the one or more of the position or the velocity of the device.