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1.发明申请公开(公告)号：US20250076973A1
公开(公告)日：2025-03-06
申请号：US18956658
申请日：2024-11-22
Applicant: Magic Leap, Inc.
Inventor： Zachary C. Nienstedt , Daniel Roberts , Christopher Michael Lopez , Brian Edward Oliver Bucknor , Samuel A. Miller , Nathan Yuki Baumli , Dominik Michael Kasper , Manel Quim Sanchez Nicuesa , Andrea Lampart , Rafa Gomez-Jordana Manas , Martin Georg Zahnert , Nikola Stan , Emily Elizabeth Mount
Abstract: Wearable systems and method for operation thereof incorporating headset and controller localization using headset cameras and controller fiducials are disclosed. A wearable system may include a headset and a controller. The wearable system may alternate between performing headset tracking and performing controller tracking by repeatedly capturing images using a headset camera of the headset during headset tracking frames and controller tracking frames. The wearable system may cause the headset camera to capture a first exposure image an exposure above a threshold and cause the headset camera to capture a second exposure image having an exposure below the threshold. The wearable system may determine a fiducial interval during which fiducials of the controller are to flash at a fiducial frequency and a fiducial period. The wearable system may cause the fiducials to flash during the fiducial interval in accordance with the fiducial frequency and the fiducial period.
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公开(公告)号：US12211271B2
公开(公告)日：2025-01-28
申请号：US18378086
申请日：2023-10-09
Applicant: Magic Leap, Inc.
Inventor： Martin Georg Zahnert , Joao Antonio Pereira Faro , Miguel Andres Granados Velasquez , Dominik Michael Kasper , Ashwin Swaminathan , Anush Mohan , Prateek Singhal
Abstract: To determine the head pose of a user, a head-mounted display system having an imaging device can obtain a current image of a real-world environment, with points corresponding to salient points which will be used to determine the head pose. The salient points are patch-based and include: a first salient point being projected onto the current image from a previous image, and with a second salient point included in the current image being extracted from the current image. Each salient point is subsequently matched with real-world points based on descriptor-based map information indicating locations of salient points in the real-world environment. The orientation of the imaging devices is determined based on the matching and based on the relative positions of the salient points in the view captured in the current image. The orientation may be used to extrapolate the head pose of the wearer of the head-mounted display system.
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公开(公告)号：US11501529B2
公开(公告)日：2022-11-15
申请号：US17193568
申请日：2021-03-05
Applicant: Magic Leap, Inc.
Inventor： Martin Georg Zahnert , Joao Antonio Pereira Faro , Miguel Andres Granados Velasquez , Dominik Michael Kasper , Ashwin Swaminathan , Anush Mohan , Prateek Singhal
Abstract: To determine the head pose of a user, a head-mounted display system having an imaging device can obtain a current image of a real-world environment, with points corresponding to salient points which will be used to determine the head pose. The salient points are patch-based and include: a first salient point being projected onto the current image from a previous image, and with a second salient point included in the current image being extracted from the current image. Each salient point is subsequently matched with real-world points based on descriptor-based map information indicating locations of salient points in the real-world environment. The orientation of the imaging devices is determined based on the matching and based on the relative positions of the salient points in the view captured in the current image. The orientation may be used to extrapolate the head pose of the wearer of the head-mounted display system.
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公开(公告)号：US20210334537A1
公开(公告)日：2021-10-28
申请号：US17193568
申请日：2021-03-05
Applicant: Magic Leap, Inc.
Inventor： Martin Georg Zahnert , Joao Antonio Pereira Faro , Miguel Andres Granados Velasquez , Dominik Michael Kasper , Ashwin Swaminathan , Anush Mohan , Prateek Singhal
IPC: G06K9/00 , G02B27/01 , G06F3/01 , G06F3/0481
Abstract: To determine the head pose of a user, a head-mounted display system having an imaging device can obtain a current image of a real-world environment, with points corresponding to salient points which will be used to determine the head pose. The salient points are patch-based and include: a first salient point being projected onto the current image from a previous image, and with a second salient point included in the current image being extracted from the current image. Each salient point is subsequently matched with real-world points based on descriptor-based map information indicating locations of salient points in the real-world environment. The orientation of the imaging devices is determined based on the matching and based on the relative positions of the salient points in the view captured in the current image. The orientation may be used to extrapolate the head pose of the wearer of the head-mounted display system.
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公开(公告)号：US20250086824A1
公开(公告)日：2025-03-13
申请号：US18956664
申请日：2024-11-22
Applicant: Magic Leap, Inc.
Inventor： Dominik Michael Kasper , Martin Georg Zahnert , Manel Quim Sanchez Nicuesa , Rafa Gomez-Jordana Manas , Nathan Yuki Baumli , Koon Keong Shee , Zachary C. Nienstedt , Emily Elizabeth Mount , Lomesh Agarwal , Andrea Lampart
Abstract: Wearable systems and method for operation thereof incorporating headset and controller inside-out tracking are disclosed. A wearable system may include a headset and a controller. The wearable system may cause fiducials of the controller to flash. The wearable system may track a pose of the controller by capturing headset images using a headset camera, identifying the fiducials in the headset images, and tracking the pose of the controller based on the identified fiducials in the headset images and based on a pose of the headset. While tracking the pose of the controller, the wearable system may capture controller images using a controller camera. The wearable system may identify two-dimensional feature points in each controller image and determine three-dimensional map points based on the two-dimensional feature points and the pose of the controller.
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Patent Agency Ranking
公开(公告)号：US12249024B2
公开(公告)日：2025-03-11
申请号：US18439653
申请日：2024-02-12
Applicant: Magic Leap, Inc.
Inventor： Yu-Hsiang Huang , Evan Gregory Levine , Igor Napolskikh , Dominik Michael Kasper , Manel Quim Sanchez Nicuesa , Sergiu Sima , Benjamin Langmann , Ashwin Swaminathan , Martin Georg Zahnert , Blazej Marek Czuprynski , Joao Antonio Pereira Faro , Christoph Tobler , Omid Ghasemalizadeh
Abstract: Examples of the disclosure describe systems and methods for presenting virtual content on a wearable head device. In some embodiments, a state of a wearable head device is determined by minimizing a total error based on a reduced weight associated with a reprojection error. A view reflecting the determined state of the wearable head device is presented via a display of the wearable head device. In some embodiments, a wearable head device calculates a preintegration term based on the image data received via a sensor of the wearable head device and the inertial data received via a first IMU and a second IMU of the wearable head device. The wearable head device estimates a position of the device based on the preintegration term, and the wearable head device presents the virtual content based on the position of the device.
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公开(公告)号：US11328475B2
公开(公告)日：2022-05-10
申请号：US17072825
申请日：2020-10-16
Applicant: Magic Leap, Inc.
Inventor： Yu-Hsiang Huang , Evan Gregory Levine , Igor Napolskikh , Dominik Michael Kasper , Manel Quim Sanchez Nicuesa , Sergiu Sima , Benjamin Langmann , Ashwin Swaminathan , Martin Georg Zahnert , Blazej Marek Czuprynski , Joao Antonio Pereira Faro , Christoph Tobler , Omid Ghasemalizadeh
Abstract: Examples of the disclosure describe systems and methods for presenting virtual content on a wearable head device. In some embodiments, a state of a wearable head device is determined by minimizing a total error based on a reduced weight associated with a reprojection error. A view reflecting the determined state of the wearable head device is presented via a display of the wearable head device. In some embodiments, a wearable head device calculates a first preintegration term and second preintegration term based on the image data received via a sensor of the wearable head device and the inertial data received via a first IMU and a second IMU of the wearable head device. The wearable head device estimates a position of the device based on the first and second preintegration terms, and the wearable head device presents the virtual content based on the position of the device.
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公开(公告)号：US20210343087A1
公开(公告)日：2021-11-04
申请号：US17242763
申请日：2021-04-28
Applicant: Magic Leap, Inc.
Inventor： Javier Victorio Gomez Gonzalez , Miguel Andres Granados Velasquez , Mukta Prasad , Dominik Michael Kasper , Eran Guendelman , Keng-Sheng Lin
Abstract: A cross reality system enables portable devices to access stored maps and efficiently and accurately render virtual content specified in relation to those maps. The system may process images acquired with a portable device to quickly and accurately localize the portable device to the persisted maps by constraining the result of localization based on the estimated direction of gravity of a persisted map and the coordinate frame in which data in a localization request is posed. The system may actively align the data in the localization request with an estimated direction of gravity during the localization processing, and/or a portable device may establish a coordinate frame in which the data in the localization request is posed aligned with an estimated direction of gravity such that the subsequently acquired data for inclusion in a localization request, when posed in that coordinate frame, is passively aligned with the estimated direction of gravity.
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公开(公告)号：US20240233372A9
公开(公告)日：2024-07-11
申请号：US18378086
申请日：2023-10-09
Applicant: Magic Leap, Inc.
Inventor： Martin Georg Zahnert , Joao Antonio Pereira Faro , Miguel Andres Granados Velasquez , Dominik Michael Kasper , Ashwin Swaminathan , Anush Mohan , Prateek Singhal
IPC: G06V20/20 , G02B27/01 , G06F3/01 , G06F3/04815 , G06V40/18
CPC classification number: G06V20/20 , G02B27/017 , G06F3/012 , G06F3/04815 , G06V40/18 , G02B2027/0178
Abstract: To determine the head pose of a user, a head-mounted display system having an imaging device can obtain a current image of a real-world environment, with points corresponding to salient points which will be used to determine the head pose. The salient points are patch-based and include: a first salient point being projected onto the current image from a previous image, and with a second salient point included in the current image being extracted from the current image. Each salient point is subsequently matched with real-world points based on descriptor-based map information indicating locations of salient points in the real-world environment. The orientation of the imaging devices is determined based on the matching and based on the relative positions of the salient points in the view captured in the current image. The orientation may be used to extrapolate the head pose of the wearer of the head-mounted display system.
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公开(公告)号：US20240135707A1
公开(公告)日：2024-04-25
申请号：US18378086
申请日：2023-10-08
Applicant: Magic Leap, Inc.
Inventor： Martin Georg Zahnert , Joao Antonio Pereira Faro , Miguel Andres Granados Velasquez , Dominik Michael Kasper , Ashwin Swaminathan , Anush Mohan , Prateek Singhal
IPC: G06V20/20 , G02B27/01 , G06F3/01 , G06F3/04815 , G06V40/18
CPC classification number: G06V20/20 , G02B27/017 , G06F3/012 , G06F3/04815 , G06V40/18 , G02B2027/0178
Abstract: To determine the head pose of a user, a head-mounted display system having an imaging device can obtain a current image of a real-world environment, with points corresponding to salient points which will be used to determine the head pose. The salient points are patch-based and include: a first salient point being projected onto the current image from a previous image, and with a second salient point included in the current image being extracted from the current image. Each salient point is subsequently matched with real-world points based on descriptor-based map information indicating locations of salient points in the real-world environment. The orientation of the imaging devices is determined based on the matching and based on the relative positions of the salient points in the view captured in the current image. The orientation may be used to extrapolate the head pose of the wearer of the head-mounted display system.
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