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公开(公告)号：US12210672B2
公开(公告)日：2025-01-28
申请号：US18116511
申请日：2023-03-02
Applicant: Snap Inc.
Inventor： Georg Halmetschlager-Funek , Matthias Kalkgruber , Daniel Wolf , Jakob Zillner
IPC: G06F3/01 , G06F3/038 , H04L67/131
Abstract: A method for calibrating a visual-inertial tracking system is described. A device operates the visual-inertial tracking system without receiving a tracking request from a virtual object display application. In response to operating the visual-inertial tracking system, the device accesses sensor data from sensors at the device. The device identifies, based on the sensor data, a first calibration parameter value of the visual-inertial tracking system and stores the first calibration parameter value. The system detects a tracking request from the virtual object display application. In response to the tracking request, the system accesses the first calibration parameter value and determines a second calibration parameter value from the first calibration parameter value.
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公开(公告)号：US12192625B2
公开(公告)日：2025-01-07
申请号：US18321565
申请日：2023-05-22
Applicant: Snap Inc.
Inventor： Matthias Kalkgruber , Daniel Wolf
Abstract: A method for mitigating motion blur in a visual-inertial tracking system is described. In one aspect, the method includes accessing a first image generated by an optical sensor of the visual tracking system, accessing a second image generated by the optical sensor of the visual tracking system, the second image following the first image, determining a first motion blur level of the first image, determining a second motion blur level of the second image, identifying a scale change between the first image and the second image, determining a first optimal scale level for the first image based on the first motion blur level and the scale change, and determining a second optimal scale level for the second image based on the second motion blur level and the scale change.
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公开(公告)号：US20240289988A1
公开(公告)日：2024-08-29
申请号：US18656268
申请日：2024-05-06
Applicant: Snap Inc.
Inventor： Clemens Birklbauer , Georg Halmetschlager-Funek , Matthias Kalkgruber , Kai Zhou
CPC classification number: G06T7/80 , G06V10/443 , H04N17/002 , H04N23/61 , H04N23/651 , H04N23/6812
Abstract: A method for adjusting camera intrinsic parameters of a multi-camera visual tracking device is described. In one aspect, a method for calibrating the multi-camera visual tracking system includes disabling a first camera of the multi-camera visual tracking system while a second camera of the multi-camera visual tracking system is enabled, detecting a first set of features in a first image generated by the first camera after detecting that the temperature of the first camera is within the threshold of the factory calibration temperature of the first camera, and accessing and correcting intrinsic parameters of the second camera based on the projection of the first set of features in the second image and a second set of features in the second image.
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公开(公告)号：US12028626B2
公开(公告)日：2024-07-02
申请号：US18098939
申请日：2023-01-19
Applicant: Snap Inc.
Inventor： Matthias Kalkgruber , Erick Mendez Mendez , Daniel Wagner , Daniel Wolf , Kai Zhou
IPC: H04N25/531 , G02B27/01 , H04N23/51
CPC classification number: H04N25/531 , G02B27/0172 , H04N23/51 , G02B2027/0138 , G02B2027/014 , G02B2027/0178
Abstract: Visual-inertial tracking of an eyewear device using a rolling shutter camera(s). The eyewear device includes a position determining system. Visual-inertial tracking is implemented by sensing motion of the eyewear device. An initial pose is obtained for a rolling shutter camera and an image of an environment is captured. The image includes feature points captured at a particular capture time. A number of poses for the rolling shutter camera is computed based on the initial pose and sensed movement of the device. The number of computed poses is responsive to the sensed movement of the mobile device. A computed pose is selected for each feature point in the image by matching the particular capture time for the feature point to the particular computed time for the computed pose. The position of the mobile device is determined within the environment using the feature points and the selected computed poses for the feature points.
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公开(公告)号：US11854227B2
公开(公告)日：2023-12-26
申请号：US17480405
申请日：2021-09-21
Applicant: Snap Inc.
Inventor： Sagi Katz , Matthias Kalkgruber
IPC: G06T7/33 , G06T7/73 , G06T7/593 , G06T19/00 , H04N13/239
CPC classification number: G06T7/74 , G06T7/33 , G06T7/593 , G06T19/006 , G06T2207/10012 , H04N13/239
Abstract: A method for correcting a bending of a flexible device is described. In one aspect, the method includes accessing feature data of a first stereo frame that is generated by stereo optical sensors of the flexible device, the feature data generated based on a visual-inertial odometry (VIO) system of the flexible device, accessing depth map data of the first stereo frame, the depth map data generated based on a depth map system of the flexible device, estimating a pitch-roll bias and a yaw bias based on the features data and the depth map data of the first stereo frame, and generating a second stereo frame after the first stereo frame, the second stereo frame based on the pitch-roll bias and the yaw bias of the first stereo frame.
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Patent Agency Ranking
公开(公告)号：US20230297164A1
公开(公告)日：2023-09-21
申请号：US18201419
申请日：2023-05-24
Applicant: Snap Inc.
Inventor： Jeroen Diederik Hol , Matthias Kalkgruber , Erick Mendez Mendez , Niall Murphy , Gerald Nilles , Mathieu Emmanuel Vignau
CPC classification number: G06F3/012 , G01C21/1656 , G02B27/0172 , G02B27/0179 , G06F3/14 , G06T7/20 , G02B2027/0138 , G02B2027/014 , G02B2027/0178
Abstract: A method for improving the startup time of a six-degrees of freedom tracking system is described. An augmented reality system receives a device initialization request and activates a first set of sensors in response to the device initialization request. The augmented reality system receives first tracking data from the first set of sensors. The augmented reality system receives an augmented reality experience request and in response to the augmented reality request, causes display of a set of augmented reality content items based on the first tracking data and simultaneously activates a second set of sensors. The augmented reality system receives second tracking data from the activated second set of sensors. The augmented reality system updates the display of the set of augmented reality content items based on the second tracking data.
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公开(公告)号：US11662589B2
公开(公告)日：2023-05-30
申请号：US17588641
申请日：2022-01-31
Applicant: Snap Inc.
Inventor： Clemens Birklbauer , Georg Halmetschlager-Funek , Jeroen Hol , Matthias Kalkgruber , Daniel Wagner
IPC: G02B27/01 , H04N13/344 , G06T19/00 , G06F3/01
CPC classification number: G02B27/0172 , G02B27/0176 , G06F3/011 , G06F3/017 , G06T19/006 , H04N13/344 , G02B2027/0138 , G02B2027/0154 , G02B2027/0178
Abstract: An eyewear device with flexible frame for Augmented Reality (AR) is disclosed. At least two sensors and a display are mounted on the flexible frame. When in use, the real time geometry of the eyewear device may change from factory calibrated geometry, resulting in low quality AR rendering. A modeling module is provided to model the real time geometry of the eyewear device on the fly using sensor information of the at least two sensors. The modeled real time geometry is then provided to a rendering module to accurately display the AR to the user.
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38.发明申请公开(公告)号：US20220375041A1
公开(公告)日：2022-11-24
申请号：US17521081
申请日：2021-11-08
Applicant: Snap Inc.
Inventor： Olha Borys , Matthias Kalkgruber , Daniel Wolf
Abstract: A method for mitigating motion blur in a visual tracking system is described. In one aspect, a method for selective motion blur mitigation in a visual tracking system includes accessing a first image generated by an optical sensor of the visual tracking system, identifying camera operating parameters of the optical sensor during the optical sensor generating the first image, determining a motion of the optical sensor during the optical sensor generating the first image, determining a motion blur level of the first image based on the camera operating parameters of the optical sensor and the motion of the optical sensor, and determining whether to downscale the first image using a pyramid computation algorithm based on the motion blur level.
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公开(公告)号：US20220103752A1
公开(公告)日：2022-03-31
申请号：US17485761
申请日：2021-09-27
Applicant: Snap Inc.
Inventor： Bo Ding , Chintan Doshi , Alexander Kane , Anton Kondratenko , Gerald Nilles , John James Robertson , Dmitry Ryuma , Matthias Kalkgruber
Abstract: An eyewear device having an image processor operable in a camera pipeline for computer vision (CV) and in augmented reality (AR) systems. The image processor is configured to selectively control a plurality of cameras to provide images having a first resolution in the high power AR mode, and to provide the images having a second resolution in the low power CV mode. The first resolution is higher than the second resolution, and the plurality of cameras consume less power in the CV mode than the AR mode. The image processor controls the camera pipeline to process the first resolution high IQ images from the plurality of cameras to operate in the AR mode, and controls the camera pipeline to process the second resolution lower IQ images from the plurality of cameras to operate in the CV mode. Substantial power is saved by reducing the resolution of the images using downscaling in the cameras themselves in the CV mode.
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公开(公告)号：US20250093948A1
公开(公告)日：2025-03-20
申请号：US18970124
申请日：2024-12-05
Applicant: Snap Inc.
Inventor： Georg Halmetschlager-Funek , Matthias Kalkgruber , Daniel Wolf , Jakob Zillner
IPC: G06F3/01 , G06F3/038 , H04L67/131
Abstract: A method for calibrating a visual-inertial tracking system is described. A device operates the visual-inertial tracking system without receiving a tracking request from a virtual object display application. In response to operating the visual-inertial tracking system, the device accesses sensor data from sensors at the device. The device identifies, based on the sensor data, a first calibration parameter value of the visual-inertial tracking system and stores the first calibration parameter value. The system detects a tracking request from the virtual object display application. In response to the tracking request, the system accesses the first calibration parameter value and determines a second calibration parameter value from the first calibration parameter value.
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