公开(公告)号：US12249092B2

公开(公告)日：2025-03-11

申请号：US17493620

申请日：2021-10-04

Applicant: META PLATFORMS TECHNOLOGIES, LLC

Inventor： Amr Suleiman ,  Anastasios Mourikis ,  Armin Alaghi ,  Andrew Samuel Berkovich ,  Shlomo Alkalay ,  Muzaffer Kal ,  Vincent Lee ,  Richard Andrew Newcombe

IPC: G06T7/73 ,  G06T7/00 ,  G06T19/00

Abstract: In one embodiment, a computing system accesses a set of 3D locations associated with features in an environment previously captured by a camera from a previous camera pose. The computing system determines a predicted camera pose using the previous camera pose and motion measurements generated using a motion sensor associated with the camera. The computing system projects the set of 3D locations toward the predicted camera pose and onto a 2D image plane associated with the camera. The computing system generates, based on the projected set of 3D locations on the 2D image plane, an activation map specifying a subset of the pixel sensors of the camera that are to be activated. The computing system instructs, using the activation map, the camera to activate the subset of pixel sensors to capture a new image of the environment. The computing system reads pixel values of the new image.

公开(公告)号：US11527011B2

公开(公告)日：2022-12-13

申请号：US17486664

申请日：2021-09-27

Applicant: META PLATFORMS TECHNOLOGIES, LLC

Inventor： Jakob Julian Engel ,  Anastasios Mourikis ,  Raul Mur Artal

IPC: G06T7/73 ,  G01P13/00

Abstract: In one embodiment, a method includes determining correspondence data between a sequence of images based on identified features in the sequence of images and predicted pose based on motion data, and determining current state information based on the correspondence data and the motion data. The current state information comprises at least a current pose of the wearable device relative to the environment capture by the one or more cameras. Furthermore, the method comprises receiving map points in a three-dimensional map and their associated descriptors based on the identified features in the sequence of images and identifying one or more of the map points in the sequence of images based on the associated descriptors associated with the map points. The current state information is further determined based on the identified one or more of the map points.