公开(公告)号：US20240273841A1

公开(公告)日：2024-08-15

申请号：US18638995

申请日：2024-04-18

Applicant: Magic Leap, Inc.

Inventor： Ali Shahrokni ,  Daniel Olshansky ,  Xuan Zhao ,  Rafael Domingos Torres ,  Joel David Holder ,  Keng-Sheng Lin ,  Ashwin Swaminathan ,  Anush Mohan

IPC: G06T19/00 ,  G06F3/01 ,  G06T7/73 ,  H04L67/131

CPC classification number: G06T19/006 ,  G06F3/011 ,  G06T7/73 ,  G06T2200/04 ,  H04L67/131

Abstract: A cross reality system enables any of multiple devices to efficiently and accurately access previously stored maps and render virtual content specified in relation to those maps. The cross reality system may include a cloud-based localization service that responds to requests from devices to localize with respect to a stored map. The request may include one or more sets of feature descriptors extracted from an image of the physical world around the device. Those features may be posed relative to a coordinate frame used by the local device. The localization service may identify one or more stored maps with a matching set of features. Based on a transformation required to align the features from the device with the matching set of features, the localization service may compute and return to the device a transformation to relate its local coordinate frame to a coordinate frame of the stored map.

公开(公告)号：US11557099B2

公开(公告)日：2023-01-17

申请号：US17185706

申请日：2021-02-25

Applicant: Magic Leap, Inc.

Inventor： Ali Shahrokni ,  Keng-Sheng Lin ,  Xuan Zhao ,  Christian Ivan Robert Moore ,  Ashwin Swaminathan

IPC: G09G5/00 ,  G06T19/00 ,  G06T7/70 ,  H04L67/131

Abstract: A system form localizing an electronic device with dynamic buffering identifies, from the buffer, a first set of features that is extracted from a first image captured by the electronic device and receives, at the system, a second set of features that is extracted from a second image captured by the electronic device. The system further determines a first characteristic for the first set of features and a second characteristic for the second set of features and determines whether a triggering condition for dynamically changing a size of the buffer is satisfied based at least in part upon the first characteristic for the first set of features and the second characteristic for the second set of features.

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

IPC: G06T19/00 ,  G06F3/01

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.

公开(公告)号：US11568605B2

公开(公告)日：2023-01-31

申请号：US17071897

申请日：2020-10-15

Applicant: Magic Leap, Inc.

Inventor： Ali Shahrokni ,  Daniel Olshansky ,  Xuan Zhao ,  Rafael Domingos Torres ,  Joel David Holder ,  Keng-Sheng Lin ,  Ashwin Swaminathan ,  Anush Mohan

IPC: G06T19/00 ,  G06T7/73 ,  G06F3/01 ,  H04L67/131

Abstract: A cross reality system enables any of multiple devices to efficiently and accurately access previously stored maps and render virtual content specified in relation to those maps. The cross reality system may include a cloud-based localization service that responds to requests from devices to localize with respect to a stored map. The request may include one or more sets of feature descriptors extracted from an image of the physical world around the device. Those features may be posed relative to a coordinate frame used by the local device. The localization service may identify one or more stored maps with a matching set of features. Based on a transformation required to align the features from the device with the matching set of features, the localization service may compute and return to the device a transformation to relate its local coordinate frame to a coordinate frame of the stored map.

公开(公告)号：US20220406024A1

公开(公告)日：2022-12-22

申请号：US17894336

申请日：2022-08-24

Applicant: Magic Leap, Inc.

Inventor： Ali Shahrokni ,  Keng-Sheng Lin ,  Xuan Zhao ,  Christian Ivan Robert Moore ,  Ashwin Swaminathan

IPC: G06T19/00 ,  G06T7/70 ,  H04L67/131

Abstract: A system form localizing an electronic device with dynamic buffering identifies, from the buffer, a first set of features that is extracted from a first image captured by the electronic device and receives, at the system, a second set of features that is extracted from a second image captured by the electronic device. The system further determines a first characteristic for the first set of features and a second characteristic for the second set of features and determines whether a triggering condition for dynamically changing a size of the buffer is satisfied based at least in part upon the first characteristic for the first set of features and the second characteristic for the second set of features.

公开(公告)号：US20210110614A1

公开(公告)日：2021-04-15

申请号：US17071897

申请日：2020-10-15

Applicant: Magic Leap, Inc.

Inventor： Ali Shahrokni ,  Daniel Olshansky ,  Xuan Zhao ,  Rafael Domingos Torres ,  Joel David Holder ,  Keng-Sheng Lin ,  Ashwin Swaminathan ,  Anush Mohan

IPC: G06T19/00 ,  G06T7/73 ,  G06F3/01

Abstract: A cross reality system enables any of multiple devices to efficiently and accurately access previously stored maps and render virtual content specified in relation to those maps. The cross reality system may include a cloud-based localization service that responds to requests from devices to localize with respect to a stored map. The request may include one or more sets of feature descriptors extracted from an image of the physical world around the device. Those features may be posed relative to a coordinate frame used by the local device. The localization service may identify one or more stored maps with a matching set of features. Based on a transformation required to align the features from the device with the matching set of features, the localization service may compute and return to the device a transformation to relate its local coordinate frame to a coordinate frame of the stored map.

公开(公告)号：US12002170B2

公开(公告)日：2024-06-04

申请号：US17894336

申请日：2022-08-24

Applicant: Magic Leap, Inc.

Inventor： Ali Shahrokni ,  Keng-Sheng Lin ,  Xuan Zhao ,  Christian Ivan Robert Moore ,  Ashwin Swaminathan

IPC: G06T19/00 ,  G06T7/70 ,  H04L67/131

CPC classification number: G06T19/006 ,  G06T7/70 ,  H04L67/131

Abstract: A system form localizing an electronic device with dynamic buffering identifies, from the buffer, a first set of features that is extracted from a first image captured by the electronic device and receives, at the system, a second set of features that is extracted from a second image captured by the electronic device. The system further determines a first characteristic for the first set of features and a second characteristic for the second set of features and determines whether a triggering condition for dynamically changing a size of the buffer is satisfied based at least in part upon the first characteristic for the first set of features and the second characteristic for the second set of features.

公开(公告)号：US11995782B2

公开(公告)日：2024-05-28

申请号：US18085246

申请日：2022-12-20

Applicant: Magic Leap, Inc.

Inventor： Ali Shahrokni ,  Daniel Olshansky ,  Xuan Zhao ,  Rafael Domingos Torres ,  Joel David Holder ,  Keng-Sheng Lin ,  Ashwin Swaminathan ,  Anush Mohan

IPC: G06T19/00 ,  G06F3/01 ,  G06T7/73 ,  H04L67/131

CPC classification number: G06T19/006 ,  G06F3/011 ,  G06T7/73 ,  G06T2200/04 ,  H04L67/131

Abstract: A cross reality system enables any of multiple devices to efficiently and accurately access previously stored maps and render virtual content specified in relation to those maps. The cross reality system may include a cloud-based localization service that responds to requests from devices to localize with respect to a stored map. The request may include one or more sets of feature descriptors extracted from an image of the physical world around the device. Those features may be posed relative to a coordinate frame used by the local device. The localization service may identify one or more stored maps with a matching set of features. Based on a transformation required to align the features from the device with the matching set of features, the localization service may compute and return to the device a transformation to relate its local coordinate frame to a coordinate frame of the stored map.

公开(公告)号：US20240135656A1

公开(公告)日：2024-04-25

申请号：US18396682

申请日：2023-12-26

Applicant: Magic Leap, Inc.

Inventor： Javier Victorio Gomez Gonzalez ,  Miguel Andres Granados Velasquez ,  Mukta Prasad ,  Dominik Michael Kasper ,  Eran Guendelman ,  Keng-Sheng Lin

IPC: G06T19/00 ,  G06F3/01

CPC classification number: G06T19/006 ,  G06F3/011

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.

公开(公告)号：US11900547B2

公开(公告)日：2024-02-13

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

IPC: G06T19/00 ,  G06F3/01

CPC classification number: G06T19/006 ,  G06F3/011

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.