公开(公告)号：US20240171726A1

公开(公告)日：2024-05-23

申请号：US18507653

申请日：2023-11-13

Applicant: GOOGLE LLC

Inventor： Joshua Anthony Hernandez ,  Zhiheng Jia ,  Chao Guo ,  Qiyue Zhang

IPC: H04N13/327 ,  G02B27/01 ,  H04N13/344 ,  H04N13/383 ,  H04N13/398

CPC classification number: H04N13/327 ,  G02B27/0172 ,  G02B27/0179 ,  H04N13/344 ,  H04N13/383 ,  H04N13/398 ,  G02B2027/0134 ,  G02B2027/0178 ,  G02B2027/0187

Abstract: A method for determining a transformation between frames of reference for two inertial measurement units (IMUs) is disclosed. The transformation includes biases associated with the measurements of each of the IMUs and the extrinsic details can include relative differences in the position and orientation of the IMUs. The IMUs may be mechanically coupled to a frame so that their movements are related. The IMUs can be coupled to a pair of displays in a head-mounted device (e.g., smart glasses) so that a display spacing between for a pair of stereoscopic displays can be accurately determined and adjusted to match the eyes of the user.

公开(公告)号：US20230236219A1

公开(公告)日：2023-07-27

申请号：US17648572

申请日：2022-01-21

Applicant: GOOGLE LLC

Inventor： Yunwen Zhou ,  Ryan Christopher DuToit ,  Abhishek Kar ,  Konstantine Nicholas John Tsotsos ,  Eric Turner ,  Chao Guo

IPC: G01P21/00 ,  G06T7/50 ,  G06T7/80 ,  G06T7/33 ,  G06T7/20 ,  G01P13/00 ,  G01P15/08

CPC classification number: G01P21/00 ,  G06T7/50 ,  G06T7/80 ,  G06T7/33 ,  G06T7/20 ,  G01P13/00 ,  G01P15/08 ,  G06T2207/20084

Abstract: Disclosed is a method including receiving a depth map estimated using data based on image and data received from a movement sensor as input, generating an alignment parameter based on the depth map, adding the alignment parameter to a pre-calibration state to define a user operational calibration state, generating scale parameters and shift parameters based on features associated with the data received from the image and movement sensor, and calibrating the image and movement sensor based on the user operational calibration state, the scale parameters and the shift parameters.

公开(公告)号：US12248625B2

公开(公告)日：2025-03-11

申请号：US18527953

申请日：2023-12-04

Applicant: GOOGLE LLC

Inventor： Qiyue Zhang ,  Luca Ballan ,  Hongsheng Yu ,  Fengtao Fan ,  Mahesh Ramachandran ,  Chao Guo

IPC: G06F3/01 ,  G06T19/00

Abstract: Techniques of providing continual augmented reality navigation include combining first and second 6DoF poses from, respectively, a localization from a map in a vicinity of a location to an image and from predicted 6DoF poses based on IMU data. The first 6DoF pose is based on a visual positioning system that uses map data from a vicinity of a location combined with an image from the world-facing camera of the AR smartglasses that provides 6DoF pose in world coordinates independent of the IMU. The second 6DoF pose is based on compensated rotational velocity and acceleration measurements derived from IMU intrinsic values.

公开(公告)号：US11847259B1

公开(公告)日：2023-12-19

申请号：US18058573

申请日：2022-11-23

Applicant: GOOGLE LLC

Inventor： Qiyue Zhang ,  Luca Ballan ,  Hongsheng Yu ,  Fengtao Fan ,  Mahesh Ramachandran ,  Chao Guo

IPC: G06F3/01 ,  G06T19/00

CPC classification number: G06F3/013 ,  G06T19/003 ,  G06T2207/20084

Abstract: Techniques of providing continual augmented reality navigation include combining first and second 6DoF poses from, respectively, a localization from a map in a vicinity of a location to an image and from predicted 6DoF poses based on IMU data.

公开(公告)号：US20230359286A1

公开(公告)日：2023-11-09

申请号：US18312448

申请日：2023-05-04

Applicant: Google LLC

Inventor： Luca Ballan ,  Mahesh Ramachandran ,  Qiyue Zhang ,  Chao Guo ,  Konstantine Nicholas John Tsotsos ,  Jie Zhang

IPC: G06F3/0346 ,  G06T7/70

CPC classification number: G06F3/0346 ,  G06T7/70 ,  G06T2207/20084

Abstract: A tracking system and associated algorithms are disclosed that can provide a user with a continuous, reset-free augmented reality (AR) experience. When the user wears an AR headset equipped with a camera and an inertial measurement unit (IMU), motion sensor data from the IMU can be combined with image data from the camera to create a device pose, representing a position and an orientation of the headset relative to its environment. In some implementations, when a reset occurs, a six-degrees-of-freedom (6DoF) algorithm can be configured to support the pose until a re-initialization is completed. In some implementations, a neural network can be used to correct for IMU integration drifts in the 6DoF algorithm. In some implementations, the IMU-based 6DoF uses a neural network that exploits the device's past motion to infer its future motion.

公开(公告)号：US20240242381A1

公开(公告)日：2024-07-18

申请号：US18412931

申请日：2024-01-15

Applicant: GOOGLE LLC

Inventor： Zhiheng Jia ,  Chao Guo ,  Scott Fullam ,  Jeffrey Neil Margolis

IPC: G06T7/80 ,  G02B27/01 ,  G06F3/01

CPC classification number: G06T7/80 ,  G02B27/0172 ,  G02B27/0176 ,  G06F3/013

Abstract: Techniques include performing a calibration of the display with respect to the eye-tracking camera after usage. The calibration involves determining a current position of a reflected pixel of the display within a field of view of the eye-tracking camera and comparing that position with a calibration position, for example a position seen at the factory. The pixel may then be shifted according to the difference between the current position and the calibration position.

公开(公告)号：US20240176419A1

公开(公告)日：2024-05-30

申请号：US18527953

申请日：2023-12-04

Applicant: GOOGLE LLC

Inventor： Qiyue Zhang ,  Luca Ballan ,  Hongsheng Yu ,  Fengtao Fan ,  Mahesh Ramachandran ,  Chao Guo

IPC: G06F3/01 ,  G06T19/00

CPC classification number: G06F3/013 ,  G06T19/003 ,  G06T2207/20084

Abstract: Techniques of providing continual augmented reality navigation include combining first and second 6DoF poses from, respectively, a localization from a map in a vicinity of a location to an image and from predicted 6DoF poses based on IMU data. The first 6DoF pose is based on a visual positioning system that uses map data from a vicinity of a location combined with an image from the world-facing camera of the AR smartglasses that provides 6DoF pose in world coordinates independent of the IMU. The second 6DoF pose is based on compensated rotational velocity and acceleration measurements derived from IMU intrinsic values.

公开(公告)号：US10203209B2

公开(公告)日：2019-02-12

申请号：US15605448

申请日：2017-05-25

Applicant: Regents of the University of Minnesota ,  Google LLC

Inventor： Stergios I. Roumeliotis ,  Esha D. Nerurkar ,  Joel Hesch ,  Chao Guo ,  Ryan C. DuToit ,  Kourosh Sartipi ,  Georgios Georgiou

IPC: G01C21/00 ,  G01C21/16 ,  G06T17/05 ,  G06T19/00 ,  G06T17/00 ,  G06T7/00 ,  G01C21/32 ,  H04W4/02

Abstract: A method includes: receiving, with a computing platform, respective trajectory data and map data independently generated by each of a plurality of vision-aided inertial navigation devices (VINS devices) traversing an environment, wherein the trajectory data specifies poses along a path through the environment for the respective VINS device and the map data specifies positions of observed features within the environment as determined by an estimator executed by the respective VINS device; determining, with the computing platform and based on the respective trajectory data and map data from each of the VINS devices, estimates for relative poses within the environment by determining transformations that geometrically relate the trajectory data and the map data between one or more pairs of the VINS devices; and generating, with the computing platform and based on the transformations, a composite map specifying positions within the environment for the features observed by the VINS devices.