Systems and methods for generating stabilized images of a real environment in artificial reality

Patent metadata

Field	Value
Publication number	US-12586294-B2
Application number	US-202418767583-A
Country	US
Kind code	B2
Filing date	Jul 9, 2024
Priority date	Dec 30, 2020
Publication date	Mar 24, 2026
Grant date	Mar 24, 2026

Abstract

A method includes detecting an object of interest in a real environment and depth information of the object; determining one or more anchor locations in a three-dimensional space that correspond to a position of the object in the three-dimensional space; and generating a virtual surface anchored in the three-dimensional space. The method may further determine a pose of a camera when an image is captured and determine a region in the image that corresponds to the virtual surface. The method may further determine a first viewpoint of a first eye of the user; render a first output image based on (1) the first viewpoint relative to the virtual surface and (2) the image region corresponding to the virtual surface; and display the first output image on a first display of the computing device, the first display being configured to be viewed by the first eye of the user.

First claim

What is claimed is:

1 . A method comprising, by a computing device in communication with a mixed-reality device worn by a user:
detecting an object of interest in a real environment; determining one or more anchor locations in a mixed-reality environment presented via the mixed-reality device that correspond to a position of the object of interest in the real environment; determining (i) a pose of a camera when an image is captured and (ii) a viewpoint of the user of the mixed-reality device; determining a region in the image that, as viewed from the pose of the camera, corresponds to at least one of the one or more anchor locations; causing display of a first output image based on (1) the viewpoint and (2) the region in the image corresponding to at least one of the one or more anchor locations.

2 . The method of claim 1 , further comprising determining a horizontal distance of the user from the one or more anchor locations; wherein causing display of the first output image is based on the horizontal distance of the user from the one or more anchor locations exceeding a minimum threshold distance.

3 . The method of claim 1 , further comprising determining a vertical distance of the user from the one or more anchor locations; wherein causing display of the first output image is based on the vertical distance of the user from the one or more anchor locations exceeding a minimum threshold distance.

4 . The method of claim 1 , further comprising determining an orientation of the mixed-reality device relative to the one or more anchor locations; wherein causing display the first output image is based on the orientation of the mixed-reality device.

5 . The method of claim 1 , further comprising:
causing display of a second output image based on (1) another viewpoint and (2) the region in the image corresponding to at least one of the one or more anchor locations.

6 . The method of claim 1 , wherein the one or more anchor locations are further determined based on one or more tracked motions of a hand of the user.

7 . The method of claim 6 , wherein the one or more tracked motions include a first coordinate that remains at a fixed position in the real environment, wherein the one or more anchor locations are based on the first coordinate.

8 . The method of claim 1 , wherein the object of interest in the real environment is detected using a computer vision technique.

9 . The method of claim 1 , wherein a camera worn by the user is associated with the mixed-reality device worn by the user that blocks the user from seeing the real environment directly.

10 . A non-transitory computer-readable medium including executable instructions that, when executed by a computing device that is in communication with mixed-reality device worn by a user, cause the computing device to:
detect an object of interest in a real environment; determine one or more anchor locations in a mixed-reality environment presented via the mixed-reality device that correspond to a position of the object of interest in the real environment; determine (i) a pose of a camera when an image is captured and (ii) a viewpoint of the user of the mixed-reality device; determine a region in the image that, as viewed from the pose of the camera, corresponds to at least one of the one or more anchor locations; cause display of a first output image based on (1) viewpoint and (2) the region in the image corresponding to at least one of the one or more anchor locations.

11 . The non-transitory computer-readable medium of claim 10 , wherein the executable instructions further cause the computing device to:
determine a horizontal distance of the user from the one or more anchor locations; wherein causing display of the first output image is based on the horizontal distance of the user from the one or more anchor locations exceeding a minimum threshold distance.

12 . The non-transitory computer-readable medium of claim 10 , wherein the executable instructions further cause the computing device to:
determine a vertical distance of the user from the one or more anchor locations; wherein causing display of the first output image is based on the vertical distance of the user from the one or more anchor locations exceeding a minimum threshold distance.

13 . The non-transitory computer-readable medium of claim 10 , wherein the executable instructions further cause the computing device to:
determine an orientation of the mixed-reality device relative to the one or more anchor locations; wherein causing display the first output image is based on the orientation of the mixed-reality device.

14 . The non-transitory computer-readable medium of claim 10 , wherein the executable instructions further cause the computing device to:
cause display of a second output image based on (1) another viewpoint and (2) the region in the image corresponding to at least one of the one or more anchor locations.

15 . The non-transitory computer-readable medium of claim 10 , wherein the one or more anchor locations are further determined based on one or more tracked motions of a hand of the user.

16 . A system comprising:
a mixed-reality device worn by a user; one or more processors; and one or more computer-readable non-transitory storage media coupled to the one or more of processors and including executable instructions that, when executed by the one or more of processors, to cause the system to:
detect an object of interest in a real environment;
determine one or more anchor locations in a mixed-reality environment presented via the mixed-reality device that correspond to a position of the object of interest in the real environment;
determine (i) a pose of a camera when an image is captured and (ii) a viewpoint of the user of the mixed-reality device;
determine a region in the image that, as viewed from the pose of the camera, corresponds to at least one of the one or more anchor locations;
cause display of a first output image based on (1) viewpoint and (2) the region in the image corresponding to at least one of the one or more anchor locations.

17 . The system of claim 16 , wherein the executable instructions further cause the system to:
determine a horizontal distance of the user from the one or more anchor locations; wherein causing display of the first output image is based on the horizontal distance of the user from the one or more anchor locations exceeding a minimum threshold distance.

18 . The system of claim 16 , wherein the executable instructions further cause the system to:
determine a vertical distance of the user from the one or more anchor locations; wherein causing display of the first output image is based on the vertical distance of the user from the one or more anchor locations exceeding a minimum threshold distance.

19 . The system of claim 16 , wherein the executable instructions further cause the system to:
determine an orientation of the mixed-reality device relative to the one or more anchor locations; wherein causing display the first output image is based on the orientation of the mixed-reality device.

20 . The system of claim 16 , wherein the executable instructions further cause the system to:
cause display of a second output image based on (1) another viewpoint and (2) the region in the image corresponding to at least one of the one or more anchor locations.

Assignees

• Meta Platforms Tech Llc

Inventors

• Marra Alessia
• Noris Gioacchino
• Inversin Panya

Classifications

• H04N5/272

  Means for inserting a foreground image in a background image, i.e. inlay, outlay · CPC title

• G09G2340/12

  Overlay of images, i.e. displayed pixel being the result of switching between the corresponding input pixels · CPC title

• G09G2340/10

  Mixing of images, i.e. displayed pixel being the result of an operation, e.g. adding, on the corresponding input pixels · CPC title

• G06T2207/30244

  Camera pose · CPC title

• G06T19/006

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