公开(公告)号：US11145075B2

公开(公告)日：2021-10-12

申请号：US16767401

申请日：2019-10-04

申请人： Google LLC

发明人： Julien Valentin ,  Onur G. Guleryuz ,  Mira Leung ,  Maksym Dzitsiuk ,  Jose Pascoal ,  Mirko Schmidt ,  Christoph Rhemann ,  Neal Wadhwa ,  Eric Turner ,  Sameh Khamis ,  Adarsh Prakash Murthy Kowdle ,  Ambrus Csaszar ,  João Manuel Castro Afonso ,  Jonathan T. Barron ,  Michael Schoenberg ,  Ivan Dryanovski ,  Vivek Verma ,  Vladimir Tankovich ,  Shahram Izadi ,  Sean Ryan Francesco Fanello ,  Konstantine Nicholas John Tsotsos

IPC分类号： G06T7/579 ,  G06T19/00 ,  G06T7/571

摘要： A handheld user device includes a monocular camera to capture a feed of images of a local scene and a processor to select, from the feed, a keyframe and perform, for a first image from the feed, stereo matching using the first image, the keyframe, and a relative pose based on a pose associated with the first image and a pose associated with the keyframe to generate a sparse disparity map representing disparities between the first image and the keyframe. The processor further is to determine a dense depth map from the disparity map using a bilateral solver algorithm, and process a viewfinder image generated from a second image of the feed with occlusion rendering based on the depth map to incorporate one or more virtual objects into the viewfinder image to generate an AR viewfinder image. Further, the processor is to provide the AR viewfinder image for display.

公开(公告)号：US20210185293A1

公开(公告)日：2021-06-17

申请号：US17188900

申请日：2021-03-01

申请人： GOOGLE LLC

发明人： Mirko Schmidt ,  Ivan Dryanovski

IPC分类号： H04N13/128 ,  G06T19/00 ,  H04N13/122 ,  H04N13/344 ,  H04N13/366 ,  H04N5/222 ,  G01S7/51 ,  H04N5/232 ,  G01S17/89 ,  G01S17/86

摘要： An HMD adjusts adjusting depth information based on detected motion of the system. The HMD includes a depth camera that collects depth data for objects in the local environment of the HMD. The HMD further includes an inertial measurement unit (IMU) including non-visual motion sensors such as one or more accelerometers, gyroscopes, and the like. The HMD adjusts the received depth information based on motion data provided by the IMU, thereby improving the accuracy of the depth information, and in turn reducing visual artifacts that can result from inaccuracies in the depth information.

公开(公告)号：US10992916B2

公开(公告)日：2021-04-27

申请号：US15659971

申请日：2017-07-26

申请人： GOOGLE LLC

发明人： Mirko Schmidt ,  Ivan Dryanovski

IPC分类号： H04N13/128 ,  G06T19/00 ,  H04N13/122 ,  H04N13/344 ,  H04N13/366 ,  H04N5/222 ,  G01S7/51 ,  H04N5/232 ,  G01S17/89 ,  G01S17/86

摘要： An HMD adjusts adjusting depth information based on detected motion of the system. The HMD includes a depth camera that collects depth data for objects in the local environment of the HMD. The HMD further includes an inertial measurement unit (IMU) including non-visual motion sensors such as one or more accelerometers, gyroscopes, and the like. The HMD adjusts the received depth information based on motion data provided by the IMU, thereby improving the accuracy of the depth information, and in turn reducing visual artifacts that can result from inaccuracies in the depth information.