公开(公告)号：US12056273B2

公开(公告)日：2024-08-06

申请号：US18068392

申请日：2022-12-19

Applicant: Magic Leap, Inc.

Inventor： Arnau Franci Rodon ,  Omid Ghasemalizadeh

IPC: G06F3/01 ,  G01P15/08 ,  G01P15/16

CPC classification number: G06F3/012 ,  G01P15/08 ,  G01P15/165 ,  G06F3/011

Abstract: Disclosed herein are systems and methods for calculating angular acceleration based on inertial data using two or more inertial measurement units (IMUs). The calculated angular acceleration may be used to estimate a position of a wearable head device comprising the IMUs. Virtual content may be presented based on the position of the wearable head device. In some embodiments, a first IMU and a second IMU share a coincident measurement axis.

公开(公告)号：US11935180B2

公开(公告)日：2024-03-19

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

IPC: G06T15/20 ,  G01C19/00 ,  G01P7/00 ,  G01P13/00 ,  G01P15/08 ,  G06F3/01 ,  G06T19/00

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.

公开(公告)号：US12249024B2

公开(公告)日：2025-03-11

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

IPC: G06T15/20 ,  G01C19/00 ,  G01P7/00 ,  G01P13/00 ,  G01P15/08 ,  G06F3/01 ,  G06T19/00

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.

公开(公告)号：US11328475B2

公开(公告)日：2022-05-10

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

IPC: G06T15/20 ,  G06F3/01 ,  G06T19/00 ,  G01P13/00 ,  G01P15/08 ,  G01C19/00 ,  G01P7/00

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.

公开(公告)号：US11561613B2

公开(公告)日：2023-01-24

申请号：US17332917

申请日：2021-05-27

Applicant: Magic Leap, Inc.

Inventor： Arnau Franci Rodon ,  Omid Ghasemalizadeh

IPC: G06F3/01 ,  G01P15/16 ,  G01P15/08

Abstract: Disclosed herein are systems and methods for calculating angular acceleration based on inertial data using two or more inertial measurement units (IMUs). The calculated angular acceleration may be used to estimate a position of a wearable head device comprising the IMUs. Virtual content may be presented based on the position of the wearable head device. In some embodiments, a first IMU and a second IMU share a coincident measurement axis.