Eyewear having unsynchronized rolling shutter cameras
Eyewear having unsynchronized rolling shutter (RS) cameras such that images produced by each camera are unaligned, and a state that includes velocity and gravity orientation in the eyewear's reference system is calculated. The state is not limited to these two parameters as other parameters such as the acceleration bias, the gyroscope bias, or both may be included. Math solvers are used such that processing time to calculate the velocity and gravity orientation are acceptable. Arranging the RS cameras in an unsynchronized configuration allows estimating the motion of the eyewear from just one stereo image pair and removes the requirement of possessing more images.
1. Eyewear, comprising:
a frame;
a first camera and a second camera coupled to the frame and configured to capture a respective first image and a second image, wherein the first and second cameras are unsynchronized; and
an electronic processor configured to:
receive the first image and the second image from the unsynchronized cameras;
process the first image and the second image based on a characteristic of the first image relative to the second image, wherein the characteristic is a rotation of the second image with respect to the first image; and
calculate gravity on the eyewear as a function of the characteristic.
2. The eyewear of claim 1 , wherein the electronic processor also calculates a velocity of the eyewear.
3. The eyewear of claim 2 , wherein the processor is configured to use a linear equation to calculate the velocity of the eyewear.
4. The eyewear of claim 1 , wherein the cameras comprise rolling shutter cameras and the first image and the second image include a common object point.
5. The eyewear of claim 4 , wherein the processor is configured to process a time difference between the cameras imaging the object point.
6. The eyewear of claim 2 , wherein the eyewear comprises an inertial measurement unit (IMU) configured to generate IMU readings, wherein the processor is configured to process the IMU readings to determine the velocity.
7. A method of use of eyewear having a frame, a first camera and a second camera coupled to the frame and configured to capture a respective first image and a second image, wherein the cameras are unsynchronized, and an electronic processor:
receiving the first image and the second image from the unsynchronized cameras;
processing the first image and the second image based on a characteristic of the first image relative to the second image; and
calculating gravity on the eyewear as a function of the characteristic, wherein the characteristic is a rotation of the second image with respect to the first image.
8. The method of claim 7 , wherein the electronic processor calculates a velocity of the eyewear.
9. The method of claim 8 , wherein the cameras comprise rolling shutter cameras and processor uses a linear equation to calculate the velocity of the eyewear.
10. The method of claim 7 , wherein the first image and the second image include a common object point.
11. The method of claim 10 , wherein the processor processes a time difference between the cameras imaging the object point.
12. The method of claim 8 , wherein the eyewear comprises an inertial measurement unit (IMU) configured to generate IMU readings, wherein the processor processes the IMU readings to determine the velocity.
13. A non-transitory computer-readable medium storing program code which, when executed, is operative to cause a processor of eyewear having a frame, a first camera and a second camera coupled to the frame and configured to capture a respective first image and a second image, wherein the cameras are unsynchronized, to perform steps of:
receive the first image and the second image from the unsynchronized cameras;
process the first image and the second image based on a characteristic of the first image relative to the second image; and
calculate gravity on the eyewear as a function of the characteristic, wherein the characteristic is a rotation of the second image with respect to the first image.
14. The non-transitory computer-readable medium of claim 13 further comprising code to calculate a velocity of the eyewear.
15. The non-transitory computer-readable medium of claim 14 , further comprising code to calculate the velocity of the eyewear using a linear equation.
16. The non-transitory computer-readable medium of claim 13 , wherein the first image and the second image include a common object point.
17. The non-transitory computer-readable medium of claim 16 , further comprising code to process a time difference between the cameras imaging the object point.