公开(公告)号：US11823450B2

公开(公告)日：2023-11-21

申请号：US17966585

申请日：2022-10-14

Applicant: Magic Leap, Inc.

Inventor： Martin Georg Zahnert ,  Joao Antonio Pereira Faro ,  Miguel Andres Granados Velasquez ,  Dominik Michael Kasper ,  Ashwin Swaminathan ,  Anush Mohan ,  Prateek Singhal

IPC: G09G5/00 ,  G06V20/20 ,  G06V40/18 ,  G02B27/01 ,  G06F3/01 ,  G06F3/04815

CPC classification number: G06V20/20 ,  G02B27/017 ,  G06F3/012 ,  G06F3/04815 ,  G06V40/18 ,  G02B2027/0178

Abstract: To determine the head pose of a user, a head-mounted display system having an imaging device can obtain a current image of a real-world environment, with points corresponding to salient points which will be used to determine the head pose. The salient points are patch-based and include: a first salient point being projected onto the current image from a previous image, and with a second salient point included in the current image being extracted from the current image. Each salient point is subsequently matched with real-world points based on descriptor-based map information indicating locations of salient points in the real-world environment. The orientation of the imaging devices is determined based on the matching and based on the relative positions of the salient points in the view captured in the current image. The orientation may be used to extrapolate the head pose of the wearer of the head-mounted display system.

公开(公告)号：US10943120B2

公开(公告)日：2021-03-09

申请号：US16221065

申请日：2018-12-14

Applicant: Magic Leap, Inc.

Inventor： Martin Georg Zahnert ,  Joao Antonio Pereira Faro ,  Miguel Andres Granados Velasquez ,  Dominik Michael Kasper ,  Ashwin Swaminathan ,  Anush Mohan ,  Prateek Singhal

IPC: G09G5/00 ,  G06K9/00 ,  G02B27/01 ,  G06F3/01 ,  G06F3/0481

Abstract: To determine the head pose of a user, a head-mounted display system having an imaging device can obtain a current image of a real-world environment, with points corresponding to salient points which will be used to determine the head pose. The salient points are patch-based and include: a first salient point being projected onto the current image from a previous image, and with a second salient point included in the current image being extracted from the current image. Each salient point is subsequently matched with real-world points based on descriptor-based map information indicating locations of salient points in the real-world environment. The orientation of the imaging devices is determined based on the matching and based on the relative positions of the salient points in the view captured in the current image. The orientation may be used to extrapolate the head pose of the wearer of the head-mounted display system.

公开(公告)号：US20240135656A1

公开(公告)日：2024-04-25

申请号：US18396682

申请日：2023-12-26

Applicant: Magic Leap, Inc.

Inventor： Javier Victorio Gomez Gonzalez ,  Miguel Andres Granados Velasquez ,  Mukta Prasad ,  Dominik Michael Kasper ,  Eran Guendelman ,  Keng-Sheng Lin

IPC: G06T19/00 ,  G06F3/01

CPC classification number: G06T19/006 ,  G06F3/011

Abstract: A cross reality system enables portable devices to access stored maps and efficiently and accurately render virtual content specified in relation to those maps. The system may process images acquired with a portable device to quickly and accurately localize the portable device to the persisted maps by constraining the result of localization based on the estimated direction of gravity of a persisted map and the coordinate frame in which data in a localization request is posed. The system may actively align the data in the localization request with an estimated direction of gravity during the localization processing, and/or a portable device may establish a coordinate frame in which the data in the localization request is posed aligned with an estimated direction of gravity such that the subsequently acquired data for inclusion in a localization request, when posed in that coordinate frame, is passively aligned with the estimated direction of gravity.

公开(公告)号：US11935180B2

公开(公告)日：2024-03-19

申请号：US17715880

申请日：2022-04-07

Applicant: Magic Leap, Inc.

Inventor： 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

IPC: G06T15/20 ,  G01C19/00 ,  G01P7/00 ,  G01P13/00 ,  G01P15/08 ,  G06F3/01 ,  G06T19/00

CPC classification number: G06T15/20 ,  G01C19/00 ,  G01P7/00 ,  G01P13/00 ,  G01P15/08 ,  G06F3/011 ,  G06T19/006

Abstract: 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 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 preintegration term, and the wearable head device presents the virtual content based on the position of the device.

公开(公告)号：US11900547B2

公开(公告)日：2024-02-13

申请号：US17242763

申请日：2021-04-28

Applicant: Magic Leap, Inc.

Inventor： Javier Victorio Gomez Gonzalez ,  Miguel Andres Granados Velasquez ,  Mukta Prasad ,  Dominik Michael Kasper ,  Eran Guendelman ,  Keng-Sheng Lin

IPC: G06T19/00 ,  G06F3/01

CPC classification number: G06T19/006 ,  G06F3/011

Abstract: A cross reality system enables portable devices to access stored maps and efficiently and accurately render virtual content specified in relation to those maps. The system may process images acquired with a portable device to quickly and accurately localize the portable device to the persisted maps by constraining the result of localization based on the estimated direction of gravity of a persisted map and the coordinate frame in which data in a localization request is posed. The system may actively align the data in the localization request with an estimated direction of gravity during the localization processing, and/or a portable device may establish a coordinate frame in which the data in the localization request is posed aligned with an estimated direction of gravity such that the subsequently acquired data for inclusion in a localization request, when posed in that coordinate frame, is passively aligned with the estimated direction of gravity.

公开(公告)号：US20230034363A1

公开(公告)日：2023-02-02

申请号：US17966585

申请日：2022-10-14

Applicant: Magic Leap, Inc.

Inventor： Martin Georg Zahnert ,  Joao Antonio Pereira Faro ,  Miguel Andres Granados Velasquez ,  Dominik Michael Kasper ,  Ashwin Swaminathan ,  Anush Mohan ,  Prateek Singhal

IPC: G06V20/20 ,  G06V40/18 ,  G02B27/01 ,  G06F3/01 ,  G06F3/04815

Abstract: To determine the head pose of a user, a head-mounted display system having an imaging device can obtain a current image of a real-world environment, with points corresponding to salient points which will be used to determine the head pose. The salient points are patch-based and include: a first salient point being projected onto the current image from a previous image, and with a second salient point included in the current image being extracted from the current image. Each salient point is subsequently matched with real-world points based on descriptor-based map information indicating locations of salient points in the real-world environment. The orientation of the imaging devices is determined based on the matching and based on the relative positions of the salient points in the view captured in the current image. The orientation may be used to extrapolate the head pose of the wearer of the head-mounted display system.

公开(公告)号：US20190188474A1

公开(公告)日：2019-06-20

申请号：US16221065

申请日：2018-12-14

Applicant: Magic Leap, Inc.

Inventor： Martin Georg Zahnert ,  Joao Antonio Pereira Faro ,  Miguel Andres Granados Velasquez ,  Dominik Michael Kasper ,  Ashwin Swaminathan ,  Anush Mohan ,  Prateek Singhal

IPC: G06K9/00 ,  G02B27/01 ,  G06F3/01 ,  G06F3/0481

CPC classification number: G06K9/00671 ,  G02B27/017 ,  G02B2027/0178 ,  G06F3/012 ,  G06F3/04815

Abstract: To determine the head pose of a user, a head-mounted display system having an imaging device can obtain a current image of a real-world environment, with points corresponding to salient points which will be used to determine the head pose. The salient points are patch-based and include: a first salient point being projected onto the current image from a previous image, and with a second salient point included in the current image being extracted from the current image. Each salient point is subsequently matched with real-world points based on descriptor-based map information indicating locations of salient points in the real-world environment. The orientation of the imaging devices is determined based on the matching and based on the relative positions of the salient points in the view captured in the current image. The orientation may be used to extrapolate the head pose of the wearer of the head-mounted display system.