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Patent Agency Ranking
公开(公告)号：US20230377197A1
公开(公告)日：2023-11-23
申请号：US18028176
申请日：2021-09-15
Applicant: Magic Leap, Inc.
Inventor： Igor NAPOLSKIKH , Ankur GUPTA , Yu-Hsiang HUANG , Mohamed SOUIAI , Etienne Gregoire GROSSMAN
IPC: G06T7/80
CPC classification number: G06T7/80
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for calibrating an augmented reality device using camera and inertial measurement unit data. In some implementations, a bundle adjustment process jointly optimizes or estimates states of the augmented reality device. The process can use, as input, visual and inertial measurements as well as factory-calibrated sensor extrinsic parameters. The process performs bundle adjustment and uses non-linear optimization of estimated states constrained by the measurements and the factory calibrated extrinsic parameters. The process can jointly optimize inertial constraints, IMU calibration, and camera calibrations. Output of the process can include most likely estimated states, such as data for a 3D map of an environment, a trajectory of the device, and/or updated extrinsic parameters of the visual and inertial sensors (e.g., cameras and IMUs).
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公开(公告)号：US20210118218A1
公开(公告)日：2021-04-22
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：US20220230382A1
公开(公告)日：2022-07-21
申请号：US17715880
申请日：2022-04-07
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：US20240185510A1
公开(公告)日：2024-06-06
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
CPC classification number: G06T15/20 , G01C19/00 , G01P7/00 , G01P13/00 , G01P15/08 , G06F3/011 , G06T19/006
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：US20240046521A1
公开(公告)日：2024-02-08
申请号：US18245816
申请日：2021-08-17
Applicant: Magic Leap, Inc.
Inventor： Mohamed SOUAI , Ankur GUPTA , Igor NAPOLSKIKH
CPC classification number: G06T7/85 , G06T19/00 , G06T2207/30244 , G06T2207/10012
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for camera calibration during bundle adjustment. One of the methods includes maintaining a three-dimensional model of an environment and a plurality of image data clusters that each include data generated from images captured by two or more cameras included in a device. The method includes jointly determining, for a three-dimensional point represented by an image data cluster (i) the newly estimated coordinates for the three-dimensional point for an update to the three-dimensional model or a trajectory of the device, and (ii) the newly estimated calibration data that represents the spatial relationship between the two or more cameras.
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