US 12,249,092 B2
Visual inertial odometry localization using sparse sensors
Amr Suleiman, Sammamish, WA (US); Anastasios Mourikis, Seattle, WA (US); Armin Alaghi, Kirkland, WA (US); Andrew Samuel Berkovich, Sammamish, WA (US); Shlomo Alkalay, Redmond, WA (US); Muzaffer Kal, Redmond, WA (US); Vincent Lee, Seattle, WA (US); and Richard Andrew Newcombe, Seattle, WA (US)
Assigned to Meta Platforms Technologies, LLC, Menlo Park, CA (US)
Filed by META PLATFORMS TECHNOLOGIES, LLC, Menlo Park, CA (US)
Filed on Oct. 4, 2021, as Appl. No. 17/493,620.
Application 17/493,620 is a continuation of application No. 17/472,545, filed on Sep. 10, 2021, abandoned.
Claims priority of provisional application 63/078,794, filed on Sep. 15, 2020.
Prior Publication US 2022/0122285 A1, Apr. 21, 2022
Int. Cl. G06T 7/73 (2017.01); G06T 7/00 (2017.01); G06T 19/00 (2011.01)
CPC G06T 7/73 (2017.01) [G06T 7/97 (2017.01); G06T 19/006 (2013.01); G06T 2200/04 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising, by a computing system:
accessing a set of 3D locations associated with features in an environment previously captured by a camera from a previous camera pose;
determining a predicted camera pose using the previous camera pose and motion measurements generated using a motion sensor associated with the camera;
projecting the set of 3D locations toward the predicted camera pose and onto a 2D image plane associated with the camera;
generating, based on the projected set of 3D locations on the 2D image plane, an activation map specifying a subset of the pixel sensors of the camera that are to be activated;
instructing, using the activation map, the camera to activate the subset of pixel sensors to capture a new image of the environment;
reading pixel values of the new image corresponding to the subset of pixel sensors activated by the camera; and
tracking the features in the environment based on the pixel values.