Finding new points by render rather than search in augmented or virtual reality systems

Patent metadata

Field	Value
Publication number	US-10109108-B2
Application number	US-201514705990-A
Country	US
Kind code	B2
Filing date	May 7, 2015
Priority date	Apr 18, 2014
Publication date	Oct 23, 2018
Grant date	Oct 23, 2018

Abstract

A method of displaying augmented reality comprises capturing a set of map points pertaining to the real world, wherein the set of map points are captured through a plurality of augmented reality systems, determining a position of a plurality of keyframes that captured the set of map points, and determining a set of new map points based at least in part on the captured set of map points and the determined position of the plurality of keyframes.

First claim

What is claimed is:

1. A method of displaying augmented reality, comprising:
capturing a set of map points pertaining to the real world, wherein the set of map points are captured through a plurality of augmented reality systems;
determining positions of a plurality of keyframes that captured the set of map points;
rendering lines from the determined positions of the plurality of keyframes to respective map points captured from the plurality of keyframes;
identifying points of intersection between the rendered lines; and
determining a set of new map points based at least in part on the identified points of intersection.

2. The method of claim 1 , wherein the set of new map points are determined based at least in part on a pixel pitch corresponding to the identified points of intersection.

3. The method of claim 1 , wherein the set of new map points are added to a map of the real world.

4. The method of claim 3 , further comprising delivering virtual content to one or more augmented reality display systems based at least in part on the map of the real world.

5. The method of claim 3 , further comprising delivering virtual content to one or more augmented reality display systems based at least in part on the map of the real world.

6. A method of displaying augmented reality, comprising:
capturing a set of map points pertaining to the real world, wherein the set of map points are captured through a plurality of augmented reality systems;
determining positions of a plurality of keyframes that captured the set of map points;
rendering triangular cones from the determined positions of the plurality of keyframes to respective map points captured from the plurality of keyframes, wherein the captured map points lie on bisectors of the triangular cones; and
determining a set of new map points based at least in part on the rendered triangular cones.

7. The method of claim 6 , further comprising selectively shading the triangular cones such that the bisectors of the triangular cones are the brightest portions of the triangular cones.

8. The method of claim 7 , further comprising identifying points of intersection between at least two rendered triangular cones, wherein the set of new map points are based at least in part on the identified points of intersection.

9. The method of claim 8 , wherein the set of new map points are determined based at least in part on the brightness of the identified points of intersection.

10. The method of claim 8 , wherein the set of new map points are determined based at least in part on a pixel pitch corresponding to the identified points of intersection.

11. The method of claim 6 , wherein the set of new map points are added to a map of the real world.

12. A method of displaying augmented reality, comprising:
capturing a set of map points pertaining to the real world, wherein the set of map points are captured through a plurality of augmented reality systems;
determining positions of a plurality of keyframes that captured the set of map points;
placing a virtual keyframe in relation to an existing set of keyframes;
determining a set of new map points based at least in part on the virtual keyframe; and
determining a most orthogonal direction to the existing set of keyframes, and positioning the virtual keyframe at the determined orthogonal direction.

13. The method of claim 12 , wherein the most orthogonal direction is determined along one of an x coordinate, a y coordinate, and a z coordinate.

14. The method of claim 12 , further comprising rendering lines from the virtual keyframe to the set of map points, and determining the new map points based at least in part on one or more points of intersection of the rendered lines.

15. The method of claim 14 , further comprising applying a summing buffer to determine the points of intersection.

16. The method of claim 12 , further comprising rendering triangular cones from the virtual keyframe to the set of map points, and determining the new map points based at least in part on one or more points of intersection.

17. The method of claim 16 , further comprising performing a bundle adjust to correct a location of a new map point of the set of new map points.

18. The method of claim 12 , wherein the set of new map points are added to a map of the real world.

19. The method of claim 18 , further comprising delivering virtual content to one or more augmented reality display systems based at least in part on the map of the real world.

Assignees

• Magic Leap Inc

Inventors

• Miller Samuel A
• Hand Randall E

Classifications

• H04S2400/15

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