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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：US20210141076A1
公开(公告)日：2021-05-13
申请号：US17058586
申请日：2019-05-24
Applicant: Magic Leap, Inc.
Inventor： Alexander ILIC , Martin Georg ZAHNERT , Koon Keong SHEE
Abstract: An augmented reality device has a radar system that generates radar maps of locations of real world objects. An inertial measurement unit detects measurement values such as acceleration, gravitational force and inclination ranges. The values from the measurement unit drift over time. The radar maps are processed to determine fingerprints and the fingerprints are combined with the values from the measurement unit to store a pose estimate. Pose estimates at different times are compared to determine drift of the measurement unit. A measurement unit filter is adjusted to correct for the drift.
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