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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
申请人： Magic Leap, Inc.
发明人： Javier Victorio Gomez Gonzalez , Miguel Andres Granados Velasquez , Mukta Prasad , Dominik Michael Kasper , Eran Guendelman , Keng-Sheng Lin
摘要： 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：US20220358733A1
公开(公告)日：2022-11-10
申请号：US17856903
申请日：2022-07-01
申请人： Magic Leap, Inc.
发明人： Miguel Andres Granados Velasquez , Javier Victorio Gomez Gonzalez , Mukta Prasad , Eran Guendelman , Ali Shahrokni , Ashwin Swaminathan
摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously persisted maps of very large scale environments and render virtual content specified in relation to those maps. The cross reality system may build a persisted map, which may be in canonical form, by merging tracking maps from the multiple devices. A map merge process determines mergibility of a tracking map with a canonical map and merges a tracking map with a canonical map in accordance with mergibility criteria, such as, when a gravity direction of the tracking map aligns with a gravity direction of the canonical map. Refraining from merging maps if the orientation of the tracking map with respect to gravity is not preserved avoids distortions in persisted maps and results in multiple devices, which may use the maps to determine their locations, to present more realistic and immersive experiences for their users.
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公开(公告)号：US11790619B2
公开(公告)日：2023-10-17
申请号：US17856903
申请日：2022-07-01
申请人： Magic Leap, Inc.
发明人： Miguel Andres Granados Velasquez , Javier Victorio Gomez Gonzalez , Mukta Prasad , Eran Guendelman , Ali Shahrokni , Ashwin Swaminathan
CPC分类号： G06T19/006 , G01C21/387
摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously persisted maps of very large scale environments and render virtual content specified in relation to those maps. The cross reality system may build a persisted map, which may be in canonical form, by merging tracking maps from the multiple devices. A map merge process determines mergibility of a tracking map with a canonical map and merges a tracking map with a canonical map in accordance with mergibility criteria, such as, when a gravity direction of the tracking map aligns with a gravity direction of the canonical map. Refraining from merging maps if the orientation of the tracking map with respect to gravity is not preserved avoids distortions in persisted maps and results in multiple devices, which may use the maps to determine their locations, to present more realistic and immersive experiences for their users.
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公开(公告)号：US20230119217A1
公开(公告)日：2023-04-20
申请号：US18077200
申请日：2022-12-07
申请人： Magic Leap, Inc.
发明人： Miguel Andres Granados Velasquez , Javier Victorio Gomez Gonzalez , Danying Hu , Eran Guendelman , Ali Shahrokni , Ashwin Swaminathan , Mukta Prasad
摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously persisted maps, even maps of very large environments, and render virtual content specified in relation to those maps. The cross reality system may quickly process a batch of images acquired with a portable device to determine whether there is sufficient consistency across the batch in the computed localization. Processing on at least one image from the batch may determine a rough localization of the device to the map. This rough localization result may be used in a refined localization process for the image for which it was generated. The rough localization result may also be selectively propagated to a refined localization process for other images in the batch, enabling rough localization processing to be skipped for the other images.
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公开(公告)号：US11551430B2
公开(公告)日：2023-01-10
申请号：US17185741
申请日：2021-02-25
申请人： Magic Leap, Inc.
发明人： Miguel Andres Granados Velasquez , Javier Victorio Gomez Gonzalez , Danying Hu , Eran Guendelman , Ali Shahrokni , Ashwin Swaminathan , Mukta Prasad
摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously persisted maps, even maps of very large environments, and render virtual content specified in relation to those maps. The cross reality system may quickly process a batch of images acquired with a portable device to determine whether there is sufficient consistency across the batch in the computed localization. Processing on at least one image from the batch may determine a rough localization of the device to the map. This rough localization result may be used in a refined localization process for the image for which it was generated. The rough localization result may also be selectively propagated to a refined localization process for other images in the batch, enabling rough localization processing to be skipped for the other images.
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公开(公告)号：US20210264685A1
公开(公告)日：2021-08-26
申请号：US17185741
申请日：2021-02-25
申请人： Magic Leap, Inc.
发明人： Miguel Andres Granados Velasquez , Javier Victorio Gomez Gonzalez , Danying Hu , Eran Guendelman , Ali Shahrokni , Ashwin Swaminathan , Mukta Prasad
摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously persisted maps, even maps of very large environments, and render virtual content specified in relation to those maps. The cross reality system may quickly process a batch of images acquired with a portable device to determine whether there is sufficient consistency across the batch in the computed localization. Processing on at least one image from the batch may determine a rough localization of the device to the map. This rough localization result may be used in a refined localization process for the image for which it was generated. The rough localization result may also be selectively propagated to a refined localization process for other images in the batch, enabling rough localization processing to be skipped for the other images.
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公开(公告)号：US20210256767A1
公开(公告)日：2021-08-19
申请号：US17174122
申请日：2021-02-11
申请人： Magic Leap, Inc.
发明人： Miguel Andres Granados Velasquez , Javier Victorio Gomez Gonzalez , Mukta Prasad , Eran Guendelman , Ali Shahrokni , Ashwin Swaminathan
摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously persisted maps of very large scale environments and render virtual content specified in relation to those maps. The cross reality system may build a persisted map, which may be in canonical form, by merging tracking maps from the multiple devices. A map merge process determines mergibility of a tracking map with a canonical map and merges a tracking map with a canonical map in accordance with mergibility criteria, such as, when a gravity direction of the tracking map aligns with a gravity direction of the canonical map. Refraining from merging maps if the orientation of the tracking map with respect to gravity is not preserved avoids distortions in persisted maps and results in multiple devices, which may use the maps to determine their locations, to present more realistic and immersive experiences for their users.
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公开(公告)号：US20240135656A1
公开(公告)日：2024-04-25
申请号：US18396682
申请日：2023-12-26
申请人： Magic Leap, Inc.
发明人： Javier Victorio Gomez Gonzalez , Miguel Andres Granados Velasquez , Mukta Prasad , Dominik Michael Kasper , Eran Guendelman , Keng-Sheng Lin
CPC分类号： G06T19/006 , G06F3/011
摘要： 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：US20240062491A1
公开(公告)日：2024-02-22
申请号：US18457314
申请日：2023-08-28
申请人： Magic Leap, Inc.
发明人： Miguel Andres Granados Velasquez , Javier Victorio Gomez Gonzalez , Mukta Prasad , Eran Guendelman , Ali Shahrokni , Ashwin Swaminathan
CPC分类号： G06T19/006 , G01C21/387
摘要： A cross reality system enables any of multiple devices to efficiently and accurately access previously persisted maps of very large scale environments and render virtual content specified in relation to those maps. The cross reality system may build a persisted map, which may be in canonical form, by merging tracking maps from the multiple devices. A map merge process determines mergibility of a tracking map with a canonical map and merges a tracking map with a canonical map in accordance with mergibility criteria, such as, when a gravity direction of the tracking map aligns with a gravity direction of the canonical map. Refraining from merging maps if the orientation of the tracking map with respect to gravity is not preserved avoids distortions in persisted maps and results in multiple devices, which may use the maps to determine their locations, to present more realistic and immersive experiences for their users.
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公开(公告)号：US11900547B2
公开(公告)日：2024-02-13
申请号：US17242763
申请日：2021-04-28
申请人： Magic Leap, Inc.
发明人： Javier Victorio Gomez Gonzalez , Miguel Andres Granados Velasquez , Mukta Prasad , Dominik Michael Kasper , Eran Guendelman , Keng-Sheng Lin
CPC分类号： G06T19/006 , G06F3/011
摘要： 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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