公开(公告)号：US11145075B2

公开(公告)日：2021-10-12

申请号：US16767401

申请日：2019-10-04

Applicant: Google LLC

Inventor： 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: G06T7/579 ,  G06T19/00 ,  G06T7/571

Abstract: 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：US10803663B2

公开(公告)日：2020-10-13

申请号：US15666763

申请日：2017-08-02

Applicant: GOOGLE LLC

Inventor： Zhaoguang Wang ,  Mugur Marculescu ,  Chris McKenzie ,  Ambrus Csaszar ,  Ivan Dryanovski

IPC: G06T19/00 ,  H04N13/25 ,  H04N13/271 ,  H04N13/239 ,  G06F3/0481 ,  G06F3/01 ,  G06T19/20 ,  H04N13/344 ,  H04N13/00

Abstract: A method for depth sensor aided estimation of virtual reality environment boundaries includes generating depth data at a depth sensor of an electronic device based on a local environment proximate the electronic device. A set of initial boundary data is estimated based on the depth data, wherein the set of initial boundary data defines an exterior boundary of a virtual bounded floor plan. The virtual bounded floor plan is generated based at least in part on the set of initial boundary data. Additionally, a relative pose of the electronic device within the virtual bounded floor plan is determined and a collision warning is displayed on a display of the electronic device based on the relative pose.

公开(公告)号：US20210185293A1

公开(公告)日：2021-06-17

申请号：US17188900

申请日：2021-03-01

Applicant: GOOGLE LLC

Inventor： Mirko Schmidt ,  Ivan Dryanovski

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

Abstract: 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

Applicant: GOOGLE LLC

Inventor： Mirko Schmidt ,  Ivan Dryanovski

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

Abstract: 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.