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公开(公告)号：US20210256768A1
公开(公告)日：2021-08-19
申请号：US17174146
申请日：2021-02-11
申请人： Magic Leap, Inc.
IPC分类号： G06T19/00 , G06F16/29 , G06F16/907 , G06F9/54
摘要： A cross reality system enables any of multiple devices to efficiently access previously stored maps. Both stored maps and tracking maps used by portable devices may have any of multiple types of location metadata associated with them. The location metadata may be used to select a set of candidate maps for operations, such as localization or map merge, that involve finding a match between a location defined by location information from a portable device and any of a number of previously stored maps. The types of location metadata may prioritized for use in selecting the subset. To aid in selection of candidate maps, a universe of stored maps may be indexed based on geo-location information. A cross reality platform may update that index as it interacts with devices that supply geo-location information in connection with location information and may propagate that geo-location information to devices that do not supply it.
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公开(公告)号：US20210110614A1
公开(公告)日：2021-04-15
申请号：US17071897
申请日：2020-10-15
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
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：US10943120B2
公开(公告)日：2021-03-09
申请号：US16221065
申请日：2018-12-14
申请人： Magic Leap, Inc.
发明人： Martin Georg Zahnert , Joao Antonio Pereira Faro , Miguel Andres Granados Velasquez , Dominik Michael Kasper , Ashwin Swaminathan , Anush Mohan , Prateek Singhal
IPC分类号： G09G5/00 , G06K9/00 , G02B27/01 , G06F3/01 , G06F3/0481
摘要： 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.
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34.发明授权公开(公告)号：US12100181B2
公开(公告)日：2024-09-24
申请号：US17315741
申请日：2021-05-10
申请人： Magic Leap, Inc.
发明人： Lipu Zhou , Frank Thomas Steinbruecker , Ashwin Swaminathan , Hui Ju , Daniel Esteban Koppel , Konstantinos Zampogiannis , Pooja Piyush Mehta , Vinayram Balakumar
CPC分类号： G06T7/97 , G06F17/16 , G06F17/175 , G06T7/70
摘要： Methods and apparatus for providing a representation of an environment, for example, in an XR system, and any suitable computer vision and robotics applications. A representation of an environment may include one or more planar features. The representation of the environment may be provided by jointly optimizing plane parameters of the planar features and sensor poses that the planar features are observed at. The joint optimization may be based on a reduced matrix and a reduced residual vector in lieu of the Jacobian matrix and the original residual vector.
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公开(公告)号：US20240257458A1
公开(公告)日：2024-08-01
申请号：US18612614
申请日：2024-03-21
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：US11935180B2
公开(公告)日：2024-03-19
申请号：US17715880
申请日：2022-04-07
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 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.
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公开(公告)号：US20240062491A1
公开(公告)日：2024-02-22
申请号：US18457314
申请日：2023-08-28
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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公开(公告)号：US20240029301A1
公开(公告)日：2024-01-25
申请号：US18353851
申请日：2023-07-17
申请人： Magic Leap, Inc.
IPC分类号： G06T7/73
CPC分类号： G06T7/74 , G06T2207/30244
摘要： A method of efficiently and accurately computing a pose of an image with respect to other image information. The image may be acquired with a camera on a portable device and the other information may be a map, such that the computation of pose localizes the device relative to the map. Such a technique may be applied in a cross reality system to enable devices to efficiently and accurately access previously persisted maps. Localizing with respect to a map may enable multiple cross reality devices to render virtual content at locations specified in relation to those maps, providing an enhanced experience for uses of the system. The method may be used in other devices and for other purposes, such as for navigation of autonomous vehicles.
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公开(公告)号：US20230127303A1
公开(公告)日：2023-04-27
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
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：US20230034363A1
公开(公告)日：2023-02-02
申请号：US17966585
申请日：2022-10-14
申请人： Magic Leap, Inc.
发明人： Martin Georg Zahnert , Joao Antonio Pereira Faro , Miguel Andres Granados Velasquez , Dominik Michael Kasper , Ashwin Swaminathan , Anush Mohan , Prateek Singhal
IPC分类号： G06V20/20 , G06V40/18 , G02B27/01 , G06F3/01 , G06F3/04815
摘要： 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.
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