Patent Document ID: 20150262029
Application ID: 14645675
Patent Status: 0

Claim One:
1. The method for detecting translational motion while tracking a device in panoramic Simultaneous Localization and Mapping (SLAM) mode, comprising: determining a vision-based rotational motion angle for the device, wherein the vision-based rotational motion angle is determined by performing image processing on a plurality of keyframes; determining a sensor-based rotational motion angle for the device between the plurality of keyframes, wherein the sensor-based rotational motion angle is determined using one or more motion sensors coupled to the device; determining a parallax angle for the device, wherein the parallax angle is determined by comparing the vision-based rotational motion angle and the sensor-based rotational motion angle; comparing the parallax angle against a threshold value; and detecting the translational motion based upon the parallax angle being above the threshold value.