公开(公告)号：US12158981B2

公开(公告)日：2024-12-03

申请号：US17468923

申请日：2021-09-08

Applicant: GOOGLE LLC

Inventor： Chao X. Guo ,  Fei Han ,  Sazzadur Rahman ,  Luca Ballan ,  Junyang Lu

IPC: G06F3/01 ,  G01C19/5776 ,  G01C25/00 ,  G06T7/80 ,  H04N17/00

Abstract: Systems and techniques for persistent calibration of an electronic device configured to implement an extended reality (XR) system involve estimating and validating visual-inertial odometry (VIO) calibration parameters during an active XR session of the electronic device. Validating the estimated VIO calibration parameters involves performing a strict calibration qualification of the estimated VIO calibration parameters using a thresholding module, machine learning module, or both. An initial calibration qualification is performed concurrently with the strict calibration qualification based on VIO performance. If the estimated VIO calibration parameters pass the strict calibration qualification and initial calibration qualification, they are stored for use to calibrate the device in future XR sessions. Persistent calibration of time alignment between the inertial management unit and the image sensor of the electronic device is also performed during active XR sessions upon detection of time alignment issues.

公开(公告)号：US20220075447A1

公开(公告)日：2022-03-10

申请号：US17468923

申请日：2021-09-08

Applicant: GOOGLE LLC

Inventor： Chao X. Guo ,  Fei Han ,  Sazzadur Rahman ,  Luca Ballan ,  Junyang Lu

IPC: G06F3/01 ,  G06T7/80 ,  G01C19/5776 ,  H04N17/00 ,  G01C25/00

Abstract: Systems and techniques for persistent calibration of an electronic device configured to implement an extended reality (XR) system involve estimating and validating visual-inertial odometry (VIO) calibration parameters during an active XR session of the electronic device. Validating the estimated VIO calibration parameters involves performing a strict calibration qualification of the estimated VIO calibration parameters using a thresholding module, machine learning module, or both. An initial calibration qualification is performed concurrently with the strict calibration qualification based on VIO performance. If the estimated VIO calibration parameters pass the strict calibration qualification and initial calibration qualification, they are stored for use to calibrate the device in future XR sessions. Persistent calibration of time alignment between the inertial management unit and the image sensor of the electronic device is also performed during active XR sessions upon detection of time alignment issues.