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公开(公告)号：US20240273841A1
公开(公告)日：2024-08-15
申请号：US18638995
申请日：2024-04-18
申请人： Magic Leap, Inc.
发明人： Ali Shahrokni , Daniel Olshansky , Xuan Zhao , Rafael Domingos Torres , Joel David Holder , Keng-Sheng Lin , Ashwin Swaminathan , Anush Mohan
IPC分类号： G06T19/00 , G06F3/01 , G06T7/73 , H04L67/131
CPC分类号： G06T19/006 , G06F3/011 , G06T7/73 , G06T2200/04 , H04L67/131
摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously stored maps and render virtual content specified in relation to those maps. The cross reality system may include a cloud-based localization service that responds to requests from devices to localize with respect to a stored map. The request may include one or more sets of feature descriptors extracted from an image of the physical world around the device. Those features may be posed relative to a coordinate frame used by the local device. The localization service may identify one or more stored maps with a matching set of features. Based on a transformation required to align the features from the device with the matching set of features, the localization service may compute and return to the device a transformation to relate its local coordinate frame to a coordinate frame of the stored map.
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公开(公告)号：US11978159B2
公开(公告)日：2024-05-07
申请号：US17542306
申请日：2021-12-03
申请人： Magic Leap, Inc.
发明人： Anush Mohan , Rafael Domingos Torres , Daniel Olshansky , Samuel A. Miller , Jehangir Tajik , Joel David Holder , Jeremy Dwayne Miranda , Robert Blake Taylor , Ashwin Swaminathan , Lomesh Agarwal , Hiral Honar Barot , Helder Toshiro Suzuki , Ali Shahrokni , Eran Guendelman , Prateek Singhal , Xuan Zhao , Siddharth Choudhary , Nicholas Atkinson Kramer , Kenneth William Tossell , Christian Ivan Robert Moore
CPC分类号： G06T17/05 , G06F3/012 , G06F16/29 , G06T7/74 , G06T19/006 , G06T2207/20216 , H04L67/01
摘要： A cross reality system that provides an immersive user experience by storing persistent spatial information about the physical world that one or multiple user devices can access to determine position within the physical world and that applications can access to specify the position of virtual objects within the physical world. Persistent spatial information enables users to have a shared virtual, as well as physical, experience when interacting with the cross reality system. Further, persistent spatial information may be used in maps of the physical world, enabling one or multiple devices to access and localize into previously stored maps, reducing the need to map a physical space before using the cross reality system in it. Persistent spatial information may be stored as persistent coordinate frames, which may include a transformation relative to a reference orientation and information derived from images in a location corresponding to the persistent coordinate frame.
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公开(公告)号：US11557099B2
公开(公告)日：2023-01-17
申请号：US17185706
申请日：2021-02-25
申请人： Magic Leap, Inc.
IPC分类号： G09G5/00 , G06T19/00 , G06T7/70 , H04L67/131
摘要： A system form localizing an electronic device with dynamic buffering identifies, from the buffer, a first set of features that is extracted from a first image captured by the electronic device and receives, at the system, a second set of features that is extracted from a second image captured by the electronic device. The system further determines a first characteristic for the first set of features and a second characteristic for the second set of features and determines whether a triggering condition for dynamically changing a size of the buffer is satisfied based at least in part upon the first characteristic for the first set of features and the second characteristic for the second set of features.
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公开(公告)号：US11328475B2
公开(公告)日：2022-05-10
申请号：US17072825
申请日：2020-10-16
申请人： Magic Leap, Inc.
发明人： Yu-Hsiang Huang , Evan Gregory Levine , Igor Napolskikh , Dominik Michael Kasper , Manel Quim Sanchez Nicuesa , Sergiu Sima , Benjamin Langmann , Ashwin Swaminathan , Martin Georg Zahnert , Blazej Marek Czuprynski , Joao Antonio Pereira Faro , Christoph Tobler , Omid Ghasemalizadeh
摘要： Examples of the disclosure describe systems and methods for presenting virtual content on a wearable head device. In some embodiments, a state of a wearable head device is determined by minimizing a total error based on a reduced weight associated with a reprojection error. A view reflecting the determined state of the wearable head device is presented via a display of the wearable head device. In some embodiments, a wearable head device calculates a first preintegration term and second preintegration term based on the image data received via a sensor of the wearable head device and the inertial data received via a first IMU and a second IMU of the wearable head device. The wearable head device estimates a position of the device based on the first and second preintegration terms, and the wearable head device presents the virtual content based on the position of the device.
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公开(公告)号：US11244649B2
公开(公告)日：2022-02-08
申请号：US17088498
申请日：2020-11-03
申请人： Magic Leap, Inc.
发明人： Yu-Tseh Chi , Jean-Yves Bouguet , Divya Sharma , Lei Huang , Dennis William Strelow , Etienne Gregoire Grossmann , Evan Gregory Levine , Adam Harmat , Ashwin Swaminathan
摘要： Techniques are described for calibrating a device having a first sensor and a second sensor. Techniques include capturing sensor data using the first sensor and the second sensor. The device maintains a calibration profile including a translation parameter and a rotation parameter to model a spatial relationship between the first sensor and the second sensor. Techniques include determining a calibration level associated with the calibration profile at a first time. Techniques include determining, based on the calibration level, to perform a calibration process. Techniques include performing the calibration process at the first time by generating one or both of a calibrated translation parameter and a calibrated rotation parameter and replacing one or both of the translation parameter and the rotation parameter with one or both of the calibrated translation parameter and the calibrated rotation parameter.
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公开(公告)号：US20210209859A1
公开(公告)日：2021-07-08
申请号：US17208844
申请日：2021-03-22
申请人： Magic Leap, Inc.
发明人： Jeremy Dwayne Miranda , Rafael Domingos Torres , Daniel Olshansky , Anush Mohan , Robert Blake Taylor , Samuel A. Miller , Jehangir Tajik , Ashwin Swaminathan , Lomesh Agarwal , Ali Shahrokni , Prateek Singhal , Joel David Holder , Xuan Zhao , Siddharth Choudhary , Helder Toshiro Suzuki , Hiral Honar Barot , Eran Guendelman , Michael Harold Liebenow , Christian Ivan Robert Moore
摘要： An augmented reality viewing system is described. A local coordinate frame of local content is transformed to a world coordinate frame. A further transformation is made to a head coordinate frame and a further transformation is made to a camera coordinate frame that includes all pupil positions of an eye. One or more users may interact in separate sessions with a viewing system. If a canonical map is available, the earlier map is downloaded onto a viewing device of a user. The viewing device then generates another map and localizes the subsequent map to the canonical map.
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公开(公告)号：US20200051328A1
公开(公告)日：2020-02-13
申请号：US16593745
申请日：2019-10-04
申请人： Magic Leap, Inc.
发明人： Anush Mohan , Rafael Domingos Torres , Daniel Olshansky , Samuel A. Miller , Jehangir Tajik , Joel David Holder , Jeremy Dwayne Miranda , Robert Blake Taylor , Ashwin Swaminathan , Lomesh Agarwal , Hiral Honar Barot , Helder Toshiro Suzuki , Ali Shahrokni , Eran Guendelman , Prateek Singhal , Xuan Zhao , Siddharth Choudhary , Nick Kramer , Ken Tossell
摘要： A cross reality system that provides an immersive user experience by storing persistent spatial information about the physical world that one or multiple user devices can access to determine position within the physical world and that applications can access to specify the position of virtual objects within the physical world. Persistent spatial information enables users to have a shared virtual, as well as physical, experience when interacting with the cross reality system. Further, persistent spatial information may be used in maps of the physical world, enabling one or multiple devices to access and localize into previously stored maps, reducing the need to map a physical space before using the cross reality system in it. Persistent spatial information may be stored as persistent coordinate frames, which may include a transformation relative to a reference orientation and information derived from images in a location corresponding to the persistent coordinate frame.
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公开(公告)号：US12002170B2
公开(公告)日：2024-06-04
申请号：US17894336
申请日：2022-08-24
申请人： Magic Leap, Inc.
IPC分类号： G06T19/00 , G06T7/70 , H04L67/131
CPC分类号： G06T19/006 , G06T7/70 , H04L67/131
摘要： A system form localizing an electronic device with dynamic buffering identifies, from the buffer, a first set of features that is extracted from a first image captured by the electronic device and receives, at the system, a second set of features that is extracted from a second image captured by the electronic device. The system further determines a first characteristic for the first set of features and a second characteristic for the second set of features and determines whether a triggering condition for dynamically changing a size of the buffer is satisfied based at least in part upon the first characteristic for the first set of features and the second characteristic for the second set of features.
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公开(公告)号：US11995782B2
公开(公告)日：2024-05-28
申请号：US18085246
申请日：2022-12-20
申请人： Magic Leap, Inc.
发明人： Ali Shahrokni , Daniel Olshansky , Xuan Zhao , Rafael Domingos Torres , Joel David Holder , Keng-Sheng Lin , Ashwin Swaminathan , Anush Mohan
IPC分类号： G06T19/00 , G06F3/01 , G06T7/73 , H04L67/131
CPC分类号： G06T19/006 , G06F3/011 , G06T7/73 , G06T2200/04 , H04L67/131
摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously stored maps and render virtual content specified in relation to those maps. The cross reality system may include a cloud-based localization service that responds to requests from devices to localize with respect to a stored map. The request may include one or more sets of feature descriptors extracted from an image of the physical world around the device. Those features may be posed relative to a coordinate frame used by the local device. The localization service may identify one or more stored maps with a matching set of features. Based on a transformation required to align the features from the device with the matching set of features, the localization service may compute and return to the device a transformation to relate its local coordinate frame to a coordinate frame of the stored map.
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公开(公告)号：US11790619B2
公开(公告)日：2023-10-17
申请号：US17856903
申请日：2022-07-01
申请人： Magic Leap, Inc.
发明人： Miguel Andres Granados Velasquez , Javier Victorio Gomez Gonzalez , Mukta Prasad , Eran Guendelman , Ali Shahrokni , Ashwin Swaminathan
CPC分类号： G06T19/006 , G01C21/387
摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously persisted maps of very large scale environments and render virtual content specified in relation to those maps. The cross reality system may build a persisted map, which may be in canonical form, by merging tracking maps from the multiple devices. A map merge process determines mergibility of a tracking map with a canonical map and merges a tracking map with a canonical map in accordance with mergibility criteria, such as, when a gravity direction of the tracking map aligns with a gravity direction of the canonical map. Refraining from merging maps if the orientation of the tracking map with respect to gravity is not preserved avoids distortions in persisted maps and results in multiple devices, which may use the maps to determine their locations, to present more realistic and immersive experiences for their users.
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