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This invention describes a method for figuring out where a device is and how it's oriented by combining information from its camera and motion sensors. It uses a clever computational technique called a "sliding-window inverse filter" to continuously update the device's position and orientation by efficiently transferring summarized data between overlapping time segments. This allows the system to track the device's state and nearby objects over time.
Why it matters: Filed before widespread, powerful mobile processors and high-quality integrated sensors were common. Today, smartphones, drones, and AR/VR devices possess the necessary computational power and sensor fidelity to implement such real-time visual-inertial navigation systems efficiently.
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