Systems and methods for augmented reality

Patent metadata

Field	Value
Publication number	US-2018300897-A1
Application number	US-201715859277-A
Country	US
Kind code	A1
Filing date	Dec 29, 2017
Priority date	Dec 29, 2016
Publication date	Oct 18, 2018
Grant date	—

Abstract

Systems and methods for reducing error from noisy data received from a high frequency sensor by fusing received input with data received from a low frequency sensor by collecting a first set of dynamic inputs from the high frequency sensor, collecting a correction input point from the low frequency sensor, and adjusting a propagation path of a second set of dynamic inputs from the high frequency sensor based on the correction input point either by full translation to the correction input point or dampened approach towards the correction input point.

First claim

What is claimed is:

1 . A method comprising:
collecting a first set of dynamic inputs from at least one first sensor at a first frequency; collecting a correction input point from at least one second sensor at a second frequency; collecting a second set of dynamic inputs from the at one first sensor at a first frequency; and adjusting a propagation path of the second set of dynamic inputs based on the correction input point.

2 . The method of claim 1 , wherein the second frequency is lower than the first frequency.

3 . The method of claim 1 , wherein adjusting the propagation path comprising originating the propagation path from the correction input point.

4 . The method of claim 1 , wherein adjusting the propagation path comprising adjusting a rate of change of the propagation path based on weighted average time domain adjustments.

5 . The method of claim 4 , wherein the rate of change of the propagation path is adjusted by applying a coefficient to an extended Kalman filter accepting the second set of dynamic inputs.

6 . A method comprising:
determining at a first time a first pose from a first sensor; measuring at a second time a rate of change of the first pose; extrapolating an estimated future pose at given third time; accessing a plurality of points within a feature map based on the extrapolated estimated present location for the given third time; receiving an incoming image with current image features; projecting the plurality of points of the accessed feature map to current image; establishing at least one correspondence between the plurality of points and the current image; and estimating a current pose of the user based on the at least one correspondence.

7 . The method of claim 6 , further comprising:
processing the plurality of points with the feature map.

8 . The method of claim 7 , wherein the processing of the plurality of points comprises applying a warp based on the estimated future pose.

Assignees

• Magic Leap Inc

Inventors

• Woods Michael Janusz
• Rabinovich Andrew

Classifications

• G06T19/006

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

• G06T7/277

  involving stochastic approaches, e.g. using Kalman filters · CPC title

• G06T3/0093

  Physics · mapped topic

• G06T7/74 Primary

  involving reference images or patches · CPC title

• G06F3/011 Primary

  Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00) · CPC title