초록 ▼

A method for dynamic auto-calibration of a multi-sensor tracking system and apparatus incorporating it therein are presented. The method and apparatus utilize information from complementary sensors, filtered by a simultaneously running filter that combines the sensor data into an estimate of the sta

A method for dynamic auto-calibration of a multi-sensor tracking system and apparatus incorporating it therein are presented. The method and apparatus utilize information from complementary sensors, filtered by a simultaneously running filter that combines the sensor data into an estimate of the state of the monitored system to iteratively tune the bias estimate. To track a dynamic system, complimentary or redundant sensors may be combined with a model of the system so that the uncertainty in the estimated state of the dynamic system is less than the noise in the individual sensors. In addition to noise, the sensors may have bias, which has the same value whenever the system is in a particular state. While estimating the actual value of the state, the present invention allows the estimator to determine the bias. The present invention, in its most general embodiment requires complex computations. However, significant simplifications have also been developed, which reduce the necessary computational power to a manageable level. The present invention has been reduced to practice in the context of a head-tracking system employing a plurality of sensors to determine the orientation of a human head.

대표청구항 ▼

A method for dynamic auto-calibration of a multi-sensor tracking system and apparatus incorporating it therein are presented. The method and apparatus utilize information from complementary sensors, filtered by a simultaneously running filter that combines the sensor data into an estimate of the sta

A method for dynamic auto-calibration of a multi-sensor tracking system and apparatus incorporating it therein are presented. The method and apparatus utilize information from complementary sensors, filtered by a simultaneously running filter that combines the sensor data into an estimate of the state of the monitored system to iteratively tune the bias estimate. To track a dynamic system, complimentary or redundant sensors may be combined with a model of the system so that the uncertainty in the estimated state of the dynamic system is less than the noise in the individual sensors. In addition to noise, the sensors may have bias, which has the same value whenever the system is in a particular state. While estimating the actual value of the state, the present invention allows the estimator to determine the bias. The present invention, in its most general embodiment requires complex computations. However, significant simplifications have also been developed, which reduce the necessary computational power to a manageable level. The present invention has been reduced to practice in the context of a head-tracking system employing a plurality of sensors to determine the orientation of a human head. ime, said second lens group reaches the calculated correction position, a movement of said second lens group being controlled so that an average moving speed of said second lens group during the predetermined time becomes a predetermined speed. 22. A method of controlling an image pickup apparatus according to claim 21, wherein the predetermined speed is substantially equivalent to a speed at which said second lens group moves past a positional difference between a current position of said second lens group and the correction position within the predetermined time. 23. A method of controlling an image pickup apparatus, comprising the steps of: causing an actuator to move a second lens group for correcting a movement of a focal plane during a movement of a first lens group for performing a magnification varying operation; predicting a destination position to be reached by said first lens group after a predetermined time according to a moving speed of said first lens group during the magnification varying operation; and calculating a correction position of said second lens group for correcting a movement of a focal position with respect to the predicted destination position of said first lens group, by means of a memory which stores an in-focus position of said second l