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公开(公告)号：US12149825B1
公开(公告)日：2024-11-19
申请号：US17934324
申请日：2022-09-22
Applicant: Apple Inc.
Inventor： Nicholas C. Soldner , Joseph Cheung , Jose A. Rios , Stergios Roumeliotis , Qing He
Abstract: A processing unit of an electronic device may transmit a synchronization pulse to each of a first plurality of motion sensors (e.g., Inertial Measurement Units or IMUs) communicatively coupled to the processing unit, wherein the synchronization pulse transmitted to each motion sensor of the first plurality of motion sensors is assigned an offset time amount by the processing unit. The processing unit then obtains motion information samples from each of the first plurality of motion sensors, e.g., in an order corresponding to the offset time amounts assigned to the respective motion sensors, and then performs a processing operation based upon the obtained motion information samples. In some embodiments, each motion sensor may be assigned an equal offset time amount. In other embodiments, the offset time amount assigned to each motion sensor may be individually determined, e.g., based on one or more conditions, settings, or preferences related to the electronic device.
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公开(公告)号：US20240095958A1
公开(公告)日：2024-03-21
申请号：US18466379
申请日：2023-09-13
Applicant: Apple Inc.
Inventor： Shuntaro Yamazaki , Ravi Teja Sukhavasi , Oleg Naroditsky , Stergios Roumeliotis , Daniel C Byrnes
IPC: G06T7/80 , G06T7/00 , G06T7/20 , G06V10/74 , H04N23/695
CPC classification number: G06T7/80 , G06T7/0002 , G06T7/20 , G06V10/761 , H04N23/695 , G06T2207/30168 , G06V2201/07
Abstract: Methods for performing a calibration process for outward-facing cameras on devices such as head-mounted display devices are disclosed. Extrinsic parameters of the camera are first estimated using inputs to the calibration process such as information from an inertial measurement unit and points of interest within images captured by the camera that are tracked with time. Then, extrinsic and intrinsic parameters are concurrently determined in an optimization problem such that updated values of said parameters may be stored and used by applications that run on the device and make use of the camera. The calibration process may be extended to concurrently calibrate multiple cameras based, at least in part, on information from the inertial measurement unit that is local to the camera.
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公开(公告)号：US20160350926A1
公开(公告)日：2016-12-01
申请号：US15236008
申请日：2016-08-12
Applicant: Apple Inc. , Regents of the University of Minnesota
Inventor： Alex Flint , Oleg Naroditsky , Christopher P. Broaddus , Andriy Grygorenko , Stergios Roumeliotis , Oriel Bergig
CPC classification number: G01C21/165 , G01C21/16 , G01C21/206 , G06K9/00664 , G06K9/00671 , G06T7/73 , G06T2207/20024
Abstract: A method includes: receiving sensor measurements from a pre-processing module, in which the sensor measurements include image data and inertial data for a device; transferring, using a processor, information derived from the sensor measurements, from a first set of variables associated with a first window of time to a second set of variables associated with a second window of time, in which the first and second windows consecutively overlap in time; and outputting, to a post-processing module, a state of the device based on the transferred information.
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Patent Agency Ranking
公开(公告)号：US09424647B2
公开(公告)日：2016-08-23
申请号：US14457286
申请日：2014-08-12
Applicant: Apple Inc. , Regents of the University of Minnesota
Inventor： Alex Flint , Oleg Naroditsky , Christopher P. Broaddus , Andriy Grygorenko , Stergios Roumeliotis , Oriel Bergig
CPC classification number: G06T7/0042 , G01C21/16 , G01C21/165 , G01C21/206 , G06K9/00664 , G06K9/00671 , G06T7/73 , G06T2207/20024
Abstract: A method includes: receiving sensor measurements from a pre-processing module, in which the sensor measurements include image data and inertial data for a device; transferring, using a processor, information derived from the sensor measurements, from a first set of variables associated with a first window of time to a second set of variables associated with a second window of time, in which the first and second windows consecutively overlap in time; and outputting, to a post-processing module, a state of the device based on the transferred information.
Abstract translation: 一种方法包括：从预处理模块接收传感器测量，其中传感器测量包括图像数据和装置的惯性数据; 从与第一时间窗口相关联的第一组变量到与第二时间窗口相关联的第二组变量将从所述传感器测量得到的信息传送到处理器，其中所述第一和第二窗口连续重叠 时间; 以及基于所传送的信息向后处理模块输出所述设备的状态。
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公开(公告)号：US20250110567A1
公开(公告)日：2025-04-03
申请号：US18816517
申请日：2024-08-27
Applicant: Apple Inc.
Inventor： Stergios Roumeliotis , Yichao Zhou , Abdelhamid Dine , Oleg Naroditsky
Abstract: Various implementations disclosed herein include devices, systems, and methods that isolates movement of a user from movement of a platform moving with the user. For example, a process may obtain motion sensor data corresponding to an electronic device while the electronic device is located on a moving platform. The motion sensor data includes a measurement representing a combined motion of a user and the moving platform. The process may further extract from the motion sensor data, user motion data representing motion of the user. The process may further allocate the extracted user motion data as input for user motion analysis.
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公开(公告)号：US12039674B2
公开(公告)日：2024-07-16
申请号：US17478771
申请日：2021-09-17
Applicant: Apple Inc.
Inventor： Abdelhamid Dine , Kuen-Han Lin , Stergios Roumeliotis , Oleg Naroditsky
IPC: G06T19/00 , G06F3/0346 , G06F3/04815 , G06T7/20
CPC classification number: G06T19/006 , G06F3/0346 , G06F3/04815 , G06T7/20
Abstract: Implementations of the subject technology provide extended reality display devices that can be used on and/or off of a moving platform. Systems and methods are disclosed for separating out the motion of the moving platform from other motions of the device so that virtual content can be displayed without erroneous motions caused by the motion of the moving platform. The subject technology can provide extended reality settings on any suitable moveable platform such as in a car, a watercraft, an aircraft, a train, or any other vehicle.
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公开(公告)号：US20240104778A1
公开(公告)日：2024-03-28
申请号：US18466426
申请日：2023-09-13
Applicant: Apple Inc.
Inventor： Tianheng Wang , Stergios Roumeliotis , Shuntaro Yamazaki , Oleg Naroditsky
IPC: G06T7/80 , G02B27/01 , H04N13/246
CPC classification number: G06T7/85 , G02B27/0172 , H04N13/246 , G02B2027/0134
Abstract: Methods for performing a camera calibration process for outward-facing cameras on devices such as head-mounted display devices are disclosed. Using cameras with overlapping fields of view, relative rotational parameters of the cameras with respect to one another may be determined using an optimization technique such as a two-view bundle adjustment algorithm. A statistical analysis of the relative rotational parameters of the cameras, determined for a plurality of moments in time, may then be made to provide updated relative rotational parameters for recalibration of the cameras. A camera calibration process, such as those disclosed, may not depend on tracking points of interest over multiple moments in time, but rather on a convergence of the relative rotational parameters determined for respective moments in time.
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公开(公告)号：US10152795B2
公开(公告)日：2018-12-11
申请号：US15236008
申请日：2016-08-12
Applicant: Apple Inc. , Regents of the University of Minnesota
Inventor： Alex Flint , Oleg Naroditsky , Christopher P. Broaddus , Andriy Grygorenko , Stergios Roumeliotis , Oriel Bergig
Abstract: A method includes: receiving sensor measurements from a pre-processing module, in which the sensor measurements include image data and inertial data for a device; transferring, using a processor, information derived from the sensor measurements, from a first set of variables associated with a first window of time to a second set of variables associated with a second window of time, in which the first and second windows consecutively overlap in time; and outputting, to a post-processing module, a state of the device based on the transferred information.
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