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

IPC: G06T7/80 ,  G06T19/00

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.