Sharing of sparse slam coordinate systems

Patent metadata

Field	Value
Publication number	US-10504232-B2
Application number	US-201916279283-A
Country	US
Kind code	B2
Filing date	Feb 19, 2019
Priority date	May 31, 2016
Publication date	Dec 10, 2019
Grant date	Dec 10, 2019

Abstract

Mixed-reality systems are provided for using anchor data structures, such as anchor graphs, within a mixed-reality environment. These systems utilize anchor components, such as anchor vertexes, that comprise at least one first key frame, a first mixed-reality element, and at least one first transform connecting the at least one first key frame to the first mixed-reality element. Anchor connecting components, such as anchor edges, comprise transformations that connect the anchor components (e.g., anchor vertexes).

First claim

What is claimed is:

1. A computer system for connecting anchor components in a mixed-reality environment, comprising:
one or more processors; and
one or more computer-readable medium having stored computer-executable instructions that are executable by the one or more processors to cause the computer system to perform a method that includes at least the following:
identifying a first anchor component in the mixed-reality environment that includes a first mixed-reality element and at least one first key frame that is connected to the first mixed-reality element with at least one first transform;
identifying a second anchor component in the mixed-reality environment that includes a second mixed-reality element and at least one second key frame that is connected to the second mixed-reality element with at least one second transform; and
creating an anchor connecting component that includes a single connecting transform that connects the first anchor component to the second anchor component and which omits at least a separate transform between an individual key frame in the first anchor component with an individual key frame in the second anchor component.

2. The computer system of claim 1 , wherein the method further includes:
saving the first and second anchor component, along with the single connecting transform, within a single anchor data structure.

3. The computer system of claim 2 , wherein the single anchor data structure comprises an anchor graph.

4. The computer system of claim 1 , wherein the method further includes:
identifying a third anchor component in the mixed-reality environment that includes a third mixed-reality element and at least one third key frame that is connected to the third mixed-reality element with at least one third transform;
creating a second anchor connecting component between the second anchor component and the third anchor component; and
creating a third anchor connecting component between the third anchor component and the first anchor component.

5. The computer system as recited in claim 4 , wherein the method further includes tuning the first anchor connecting component based upon values associated with the third anchor connecting component.

6. The computer system as recited in claim 4 , wherein:
the second anchor connecting component is created based upon one or more sensor readings gathered along a pathway that links the second anchor component and the third anchor component; and
the third anchor connecting component is created based upon a combination of the first anchor connecting component and the second anchor connecting component.

7. The computer system as recited in claim 1 , wherein creating the first anchor connecting component comprises calculating a direct transformation between the first anchor component and the second anchor component.

8. The computer system as recited in claim 1 , wherein identifying a first anchor component comprises creating the first anchor component.

9. The computer system as recited in claim 8 , wherein creating the first anchor component comprises creating the at least one first transform.

10. The computer system as recited in claim 9 , wherein the at least one first transform is based upon an interpolation of a coordinate location associated with the first mixed-reality element, which coordinate location is derived from coordinates associated with the at least one key frame.

11. The computer system as recited in claim 9 , wherein the at least one first transform includes a plurality of transforms that connect a plurality of respective key frames, including the at least one key frame, to the first mixed-reality element.

12. A method implemented by a computer system for connecting anchor components in a mixed-reality environment, comprising:
identifying a first anchor component in the mixed-reality environment that includes a first mixed-reality element and at least one first key frame that is connected to the first mixed-reality element with at least one first transform;
identifying a second anchor component in the mixed-reality environment that includes a second mixed-reality element and at least one second key frame that is connected to the second mixed-reality element with at least one second transform; and
creating an anchor connecting component that includes a single connecting transform that connects the first anchor component to the second anchor component and which omits at least a separate transform between an individual key frame in the first anchor component with an individual key frame in the second anchor component.

13. The method of claim 12 , wherein the method further includes:
saving the first and second anchor component, along with the single connecting transform, within a single anchor data structure.

14. The method of claim 13 , wherein the single anchor data structure comprises an anchor graph.

15. The method of claim 12 , wherein the method further includes:
identifying a third anchor component in the mixed-reality environment that includes a third mixed-reality element and at least one third key frame that is connected to the third mixed-reality element with at least one third transform;
creating a second anchor connecting component between the second anchor component and the third anchor component; and
creating a third anchor connecting component between the third anchor component and the first anchor component.

16. The method as recited in claim 15 , wherein the method further includes tuning the first anchor connecting component based upon values associated with the third anchor connecting component.

17. The method as recited in claim 15 , wherein:
the second anchor connecting component is created based upon one or more sensor readings gathered along a pathway that links the second anchor component and the third anchor component; and
the third anchor connecting component is created based upon a combination of the first anchor connecting component and the second anchor connecting component.

18. The method as recited in claim 12 , wherein creating the first anchor connecting component comprises calculating a direct transformation between the first anchor component and the second anchor component.

19. The method as recited in claim 12 , wherein identifying a first anchor component comprises creating the first anchor component by at least creating the at least one first transform and wherein the at least one first transform includes a plurality of transforms that connect a plurality of respective key frames, including the at least one key frame, to the first mixed-reality element.

20. A computer program product comprising one or more hardware storage device(s) having stored computer-executable instructions that are executable by one or more processors of a computer system to cause the computer system to perform a method that includes at least the following:
identifying a first anchor component in a mixed-reality environment and that includes a first mixed-reality element and at least one first key frame that is connected to the first mixed-reality element with at least one first transform;
identifying a second anchor component in the mixed-reality environment and that includes a second mixed-reality element and at least one second key frame that is connected to the second mixed-reality element with at least one second transform; and
creating an anchor connecting component that includes a single connecting transform that connects the first anchor component to the second anchor component and which om

Assignees

• Microsoft Technology Licensing Llc

Inventors

• Ard Tracy K
• Takacs Gabriel
• Gedye David M
• Fletcher James
• Ashman Matthew Sammis

Classifications

• G06T11/26

  Drawing of charts or graphs · CPC title

• G02B2027/0174

  holographic · CPC title

• G06T19/006

  Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00) · CPC title

• G03H1/08

  Synthesising holograms, {i.e. holograms synthesized from objects or objects from holograms}(using electric digital computers G06F; G06T) · CPC title

• G06T2219/024

  Multi-user, collaborative environment · CPC title