公开(公告)号：US20210407178A1

公开(公告)日：2021-12-30

申请号：US17342851

申请日：2021-06-09

Applicant: Snap Inc.

Inventor： Kai Zhou ,  Qi Qi ,  Jeroen Hol

IPC: G06T15/20 ,  G06T7/20 ,  G06T7/70 ,  G06T7/50

Abstract: Systems and methods of generating ground truth datasets for producing virtual reality (VR) experiences, for testing simulated sensor configurations, and for training machine-learning algorithms. In one example, a recording device with one or more cameras and one or more inertial measurement units captures images and motion data along a real path through a physical environment. A SLAM application uses the captured data to calculate the trajectory of the recording device. A polynomial interpolation module uses Chebyshev polynomials to generate a continuous time trajectory (CTT) function. The method includes identifying a virtual environment and assembling a simulated sensor configuration, such as a VR headset. Using the CTT function, the method includes generating a ground truth output dataset that represents the simulated sensor configuration in motion along a virtual path through the virtual environment. The virtual path is closely correlated with the motion along the real path as captured by the recording device. Accordingly, the output dataset produces a realistic and life-like VR experience. In addition, the methods described can be used to generate multiple output datasets, at various sample rates, which are useful for training the machine-learning algorithms which are part of many VR systems.