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公开(公告)号：US20220075447A1
公开(公告)日：2022-03-10
申请号：US17468923
申请日：2021-09-08
Applicant: GOOGLE LLC
Inventor： Chao X. Guo , Fei Han , Sazzadur Rahman , Luca Ballan , Junyang Lu
IPC: G06F3/01 , G06T7/80 , G01C19/5776 , H04N17/00 , G01C25/00
Abstract: Systems and techniques for persistent calibration of an electronic device configured to implement an extended reality (XR) system involve estimating and validating visual-inertial odometry (VIO) calibration parameters during an active XR session of the electronic device. Validating the estimated VIO calibration parameters involves performing a strict calibration qualification of the estimated VIO calibration parameters using a thresholding module, machine learning module, or both. An initial calibration qualification is performed concurrently with the strict calibration qualification based on VIO performance. If the estimated VIO calibration parameters pass the strict calibration qualification and initial calibration qualification, they are stored for use to calibrate the device in future XR sessions. Persistent calibration of time alignment between the inertial management unit and the image sensor of the electronic device is also performed during active XR sessions upon detection of time alignment issues.
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公开(公告)号：US12115416B2
公开(公告)日：2024-10-15
申请号：US17654327
申请日：2022-03-10
Applicant: Google LLC
Inventor： Konstantine Nicholas John Tsotsos , Ivo Duarte , Joao Afonso , Maria Nika Yocke , Lucy Abramyan , Luca Ballan , Christopher Ross , Young Hwan Kim , José Carlos Maranhão Pascoal
CPC classification number: A63B24/0062 , A63B71/0622 , A63B71/0686 , G06T7/50 , A63B2024/0068 , A63B2071/0666 , A63B2220/05 , A63B2220/13 , A63B2220/17 , A63B2220/20 , A63B2220/30 , A63B2220/40 , A63B2220/62 , A63B2220/836 , A63B2230/62
Abstract: A method can include determining, by a head-mounted device based on first data received from a depth-sensing device included in the head-mounted device, that a first distance of the head-mounted device from a landmark is outside a completion range; outputting, based on the determination that the first distance of the head-mounted device from the landmark is outside the completion range from the landmark, an indication that a repetition has yet to be completed; determining, based on second data received from the depth-sensing device, that a second distance of head-mounted device from the landmark is within the completion range; and based on the determination that the second distance of the head-mounted device from the landmark is within the completion range, incrementing a repetition counter and outputting an indication that the repetition has been completed.
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公开(公告)号：US20240176419A1
公开(公告)日：2024-05-30
申请号：US18527953
申请日：2023-12-04
Applicant: GOOGLE LLC
Inventor： Qiyue Zhang , Luca Ballan , Hongsheng Yu , Fengtao Fan , Mahesh Ramachandran , Chao Guo
CPC classification number: G06F3/013 , G06T19/003 , G06T2207/20084
Abstract: Techniques of providing continual augmented reality navigation include combining first and second 6DoF poses from, respectively, a localization from a map in a vicinity of a location to an image and from predicted 6DoF poses based on IMU data. The first 6DoF pose is based on a visual positioning system that uses map data from a vicinity of a location combined with an image from the world-facing camera of the AR smartglasses that provides 6DoF pose in world coordinates independent of the IMU. The second 6DoF pose is based on compensated rotational velocity and acceleration measurements derived from IMU intrinsic values.
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Patent Agency Ranking
公开(公告)号：US20230285805A1
公开(公告)日：2023-09-14
申请号：US17654327
申请日：2022-03-10
Applicant: Google LLC
Inventor： Konstantine Nicholas John Tsotsos , Ivo Duarte , Joao Afonso , Maria Nika Yocke , Lucy Abramyan , Luca Ballan , Christopher Ross , Young Hwan Kim , José Carlos Maranhão Pascoal
CPC classification number: A63B24/0062 , G06T7/50 , A63B71/0686 , A63B71/0622 , A63B2024/0068 , A63B2220/836 , A63B2220/13 , A63B2220/20 , A63B2230/62 , A63B2220/40 , A63B2220/30 , A63B2220/05 , A63B2220/62 , A63B2220/17 , A63B2071/0666
Abstract: A method can include determining, by a head-mounted device based on first data received from a depth-sensing device included in the head-mounted device, that a first distance of the head-mounted device from a landmark is outside a completion range; outputting, based on the determination that the first distance of the head-mounted device from the landmark is outside the completion range from the landmark, an indication that a repetition has yet to be completed; determining, based on second data received from the depth-sensing device, that a second distance of head-mounted device from the landmark is within the completion range; and based on the determination that the second distance of the head-mounted device from the landmark is within the completion range, incrementing a repetition counter and outputting an indication that the repetition has been completed.
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公开(公告)号：US12248625B2
公开(公告)日：2025-03-11
申请号：US18527953
申请日：2023-12-04
Applicant: GOOGLE LLC
Inventor： Qiyue Zhang , Luca Ballan , Hongsheng Yu , Fengtao Fan , Mahesh Ramachandran , Chao Guo
Abstract: Techniques of providing continual augmented reality navigation include combining first and second 6DoF poses from, respectively, a localization from a map in a vicinity of a location to an image and from predicted 6DoF poses based on IMU data. The first 6DoF pose is based on a visual positioning system that uses map data from a vicinity of a location combined with an image from the world-facing camera of the AR smartglasses that provides 6DoF pose in world coordinates independent of the IMU. The second 6DoF pose is based on compensated rotational velocity and acceleration measurements derived from IMU intrinsic values.
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公开(公告)号：US11847259B1
公开(公告)日：2023-12-19
申请号：US18058573
申请日：2022-11-23
Applicant: GOOGLE LLC
Inventor： Qiyue Zhang , Luca Ballan , Hongsheng Yu , Fengtao Fan , Mahesh Ramachandran , Chao Guo
CPC classification number: G06F3/013 , G06T19/003 , G06T2207/20084
Abstract: Techniques of providing continual augmented reality navigation include combining first and second 6DoF poses from, respectively, a localization from a map in a vicinity of a location to an image and from predicted 6DoF poses based on IMU data.
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公开(公告)号：US20230359286A1
公开(公告)日：2023-11-09
申请号：US18312448
申请日：2023-05-04
Applicant: Google LLC
Inventor： Luca Ballan , Mahesh Ramachandran , Qiyue Zhang , Chao Guo , Konstantine Nicholas John Tsotsos , Jie Zhang
IPC: G06F3/0346 , G06T7/70
CPC classification number: G06F3/0346 , G06T7/70 , G06T2207/20084
Abstract: A tracking system and associated algorithms are disclosed that can provide a user with a continuous, reset-free augmented reality (AR) experience. When the user wears an AR headset equipped with a camera and an inertial measurement unit (IMU), motion sensor data from the IMU can be combined with image data from the camera to create a device pose, representing a position and an orientation of the headset relative to its environment. In some implementations, when a reset occurs, a six-degrees-of-freedom (6DoF) algorithm can be configured to support the pose until a re-initialization is completed. In some implementations, a neural network can be used to correct for IMU integration drifts in the 6DoF algorithm. In some implementations, the IMU-based 6DoF uses a neural network that exploits the device's past motion to infer its future motion.
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公开(公告)号：US12158981B2
公开(公告)日：2024-12-03
申请号：US17468923
申请日：2021-09-08
Applicant: GOOGLE LLC
Inventor： Chao X. Guo , Fei Han , Sazzadur Rahman , Luca Ballan , Junyang Lu
IPC: G06F3/01 , G01C19/5776 , G01C25/00 , G06T7/80 , H04N17/00
Abstract: Systems and techniques for persistent calibration of an electronic device configured to implement an extended reality (XR) system involve estimating and validating visual-inertial odometry (VIO) calibration parameters during an active XR session of the electronic device. Validating the estimated VIO calibration parameters involves performing a strict calibration qualification of the estimated VIO calibration parameters using a thresholding module, machine learning module, or both. An initial calibration qualification is performed concurrently with the strict calibration qualification based on VIO performance. If the estimated VIO calibration parameters pass the strict calibration qualification and initial calibration qualification, they are stored for use to calibrate the device in future XR sessions. Persistent calibration of time alignment between the inertial management unit and the image sensor of the electronic device is also performed during active XR sessions upon detection of time alignment issues.
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