Method and apparatus for estimating a pose of a rendering device
The present disclosure relates to methods, apparatus or systems for determining a final pose ( 21 ) of a rendering device. An initial pose is associated with the rendering device. A module ( 25 ) determines an intermediate pose ( 26 ) according to data from absolute pose sensors ( 23 ) and/or differential pose sensors ( 22 ). A module ( 27 ) determines the final pose ( 21 ) according to, first, a difference between the intermediate pose ( 26 ) and the initial pose information, second, the data from differential pose sensors ( 22 ), and third an evaluation of the visual perception of movements for current images ( 24 ) displayed on the rendering device.
1. A method of determining a third pose of a rendering device, the method comprising:
determining a second pose of the rendering device according to first data provided, at a given time, by sensors detecting an absolute pose of the rendering device in a frame of reference and differential data provided, at the given time, by inertial measurement sensors;
determining the third pose according to a difference between the second pose and a first pose associated with the rendering device, the differential data and parameters of a current image displayed on the rendering device, wherein the second pose is subsequent to the first pose;
wherein determining the third pose comprises:
determining a first coefficient representative of a perception of movement according to the differential data and according to the difference between the second pose and the first pose;
determining a second coefficient representative of the visual perception of the current image displayed on the rendering device;
determining the third pose between the first pose and the second pose according to a combination of the first coefficient and the second coefficient.
2. The method of claim 1 , wherein the first coefficient is determined by applying the difference between the second pose and the first pose to a function centered on the differential pose.
3. The method of claim 1 , wherein the second coefficient is determined according to features of the current displayed image, the features belonging to a set of features comprising measures of luminosity, blurriness, saturation, hue and saliency.
4. The method of claim 1 , wherein the second coefficient is determined according to features of a sequence of at least two images comprising the current displayed image, the features belonging to a set of features comprising measures of energy, entropy and optical flow.
5. The method of claim 1 , wherein the second coefficient is determined according to a combination of features of the current displayed image and features of a sequence of at least two images comprising the current displayed image.
6. The method of claim 1 , wherein the second pose is determined by a filtering method, the filtering method belonging to a set comprising Kalman filters and particle filters.
7. A device configured to determine a third pose of a rendering device, the device comprising a memory associated with at least one processor configured to:
determine a second pose of the rendering device according to absolute first data provided, at a given time, by sensors detecting an absolute pose of the rendering device in a frame of reference and to differential data provided, at the given time, by inertial measurement sensors;
determine the third pose according to a difference between the second pose and a first pose associated with the rendering device, the differential data parameters of a current image displayed on the rendering device, wherein the second pose is subsequent to the first pose;
wherein to determine the third pose comprises:
determining a first coefficient representative of a perception of movement according to the differential data and according to the difference between the second pose and the first pose;
determining a second coefficient representative of the visual perception of the current image displayed on the rendering device;
determining the third pose between the first pose and the second pose according to a combination of the first coefficient and the second coefficient.
8. The device of claim 7 , wherein the first coefficient is determined by applying the result of a difference between the second pose and the first pose to a function centered on the differential pose.
9. The device of claim 7 , wherein the second coefficient is determined according to features of the current displayed image, the features belonging to a set of features comprising measures of luminosity, blurriness, saturation, hue and saliency.
10. The device of claim 7 , wherein the second coefficient is determined according to features of a sequence of at least two images comprising the current displayed image, the features belonging to a set of features comprising measures of energy, entropy and optical flow.
11. The device of claim 7 , wherein the second coefficient is determined according to a combination of features of the current displayed image and features of a sequence of at least two images comprising the current displayed image.
12. The device of claim 7 , wherein the second pose is determined by a filtering method, the filtering method belonging to a set comprising Kalman filters and particle filters.
13. The device of claim 7 , further comprising a transmitter configured to transmit the third pose to the rendering device.