Position tracking system that exploits arbitrary configurations to determine loop closure

Patent metadata

Field	Value
Publication number	US-9983665-B2
Application number	US-201615334216-A
Country	US
Kind code	B2
Filing date	Oct 25, 2016
Priority date	Oct 25, 2016
Publication date	May 29, 2018
Grant date	May 29, 2018

Abstract

A position tracking system includes an array of detection pixels coupled to a head-mounted display (HMD) configured to capture light signals reflected from an environment surrounding the HMD. The position tracking system maintains, in a database, signal data related to a plurality of positions of the HMD. The position tracking system determines signal data related to a position of the HMD, based on the light signals captured during a time instant of the position of the HMD. The position tracking system matches the determined signal data to the maintained signal data, determines a present position of the HMD based on the matching, updates position data of the HMD with the determined position, and provides the updated position data of the HMD.

First claim

What is claimed is:

1. A position tracking system comprising:
an array comprising a plurality of detection pixels coupled to a head-mounted display (HMD) configured to capture light signals reflected from an environment surrounding the HMD; and
a controller, including a processor and a database, coupled to the array, the controller configured to:
maintain, in the database, signal data related to a plurality of positions of the HMD in the environment,
determine signal data related to a position of the HMD in the environment, based on the light signals captured during a time instant of the position of the HMD,
match the determined signal data to the maintained signal data,
determine a present position of the HMD based on the matching,
update position data of the HMD with the determined position, and
provide the updated position data of the HMD.

2. The system of claim 1 , wherein the controller is further configured to:
determine that the present position of the HMD is the same as one of the plurality of positions of the HMD, if the matching is within a threshold value.

3. The system of claim 1 , wherein the controller is further configured to:
determine that the present position of the HMD is a new position of the HMD in the environment, if the matching is not within a threshold value.

4. The system of claim 1 , wherein:
the maintained signal data comprise a plurality of strings of binary numbers stored in the database obtained based on the light signals captured by the plurality of detection pixels during a plurality of time instants, each string has a unique timestamp corresponding to one of the plurality of time instants; and
the determined signal data comprise a string of binary numbers.

5. The system of claim 4 , wherein the controller is further configured to:
perform bit-level comparisons between the string and the plurality of strings; and
determine, based on the bit-level comparisons, a timestamp corresponding to one of the plurality of time instants when the HMD was located in approximately the same position or had approximately the same orientation in the environment as during the time instant.

6. The system of claim 5 , wherein the controller is further configured to:
send the determined timestamp to the HMD for associating with existing stored data of the environment.

7. The system of claim 5 , wherein the controller is further configured to:
retrieve, from the HMD based on the determined timestamp, information about existing stored data of the environment; and
update the position data of the HMD based on the retrieved information.

8. The system of claim 1 , wherein the processor is configured to generate a string of binary numbers based on comparing intensities of the captured light signals with a defined threshold level.

9. The system of claim 1 , wherein the plurality of detection pixels in the array is arranged in a ring placed around a user's head where the HMD is mounted.

10. The system of claim 1 , wherein the detection pixels in the array are positioned on a band of the HMD.

11. The system of claim 1 , wherein the detection pixels in the array are positioned along a frame of glasses of the HMD.

12. The system of claim 1 , wherein the detection pixels in the array are distributed around an exterior of a hand-held controller device that moves through the environment.

13. The system of claim 1 , wherein the detection pixels in the array are positioned in fixed locations relative to each other.

14. The system of claim 1 , wherein the detection pixels in the array are photodiodes.

15. The system of claim 1 , wherein the detection pixels in the array measure at least one of polarization and depth.

16. The system of claim 1 , wherein the plurality of detection pixels in the array comprises different types of detection pixels.

17. The system of claim 16 , wherein the different types of detection pixels comprise at least two of: infra-red (IR) sensors, color sensors, depth sensors, polarization sensors, and reflectivity sensors.

18. A position tracking system comprising:
an array comprising a plurality of detection pixels coupled to a head-mounted display (HMD) configured to capture light signals reflected from an environment surrounding the HMD;
a controller, including a processor and a database, coupled to the array, the controller configured to:
maintain, in the database, signal data related to a plurality of positions of the HMD in the environment,
determine signal data related to a position of the HMD in the environment, based on the light signals captured during a time instant of the position of the HMD,
match the determined signal data to the maintained signal data,
determine, based on the matching, loop closure by determining that a present position of the HMD is the same as one of the plurality of positions,
update position data of the HMD based on the determined loop closure, and
provide the updated position data of the HMD.

19. The system of claim 18 , wherein:
the maintained signal data comprise a plurality of strings of binary numbers stored in the database obtained based on the light signals captured by the plurality of detection pixels during a plurality of time instants, each string has a unique timestamp corresponding to one of the plurality of time instants; and
the determined signal data comprise a string of binary numbers.

20. The system of claim 19 , wherein the controller is further configured to:
perform bit-level comparisons between the string and the plurality of strings; and
determine, based on the bit-level comparisons, a timestamp corresponding to one of the plurality of time instants when the HMD was located in approximately the same position or had approximately the same orientation in the environment as during the time instant.

21. The system of claim 18 , wherein the plurality of detection pixels in the array is arranged in a ring placed around a user's head where the HMD is mounted.

22. The system of claim 18 , wherein the detection pixels in the array are photodiodes.

23. A method for position tracking of a head-mounted display (HMD), the method comprising:
capturing light signals reflected from an environment surrounding the HMD;
maintaining signal data related to a plurality of positions of the HMD in the environment;
determining signal data related to a position of the HMD in the environment, based on the light signals captured during a time instant of the position of the HMD;
matching the determined signal data to the maintained signal data;
determining a present position of the HMD based on the matching;
updating position data of the HMD with the determined position; and
providing the updated position data of the HMD.

24. The method of claim 23 , further comprising:
determining that the present position of the HMD is the same as one of the plurality of positions of the HMD, if the matching is within a threshold value.

25. The method of claim 23 , further comprising:
determining that the present position of the HMD is a new position of the HMD in the environment, if the matching is not within a threshold value.

26. The method of claim 23 , wherein:
the maintained signal data comprise a plurality of strings of binary numbers obtained based on the light signals captured during a plurality of time instants, each string has a unique timestamp corresponding to one of the plurality of time

Assignees

• Oculus Vr Llc

Inventors

• Hall Michael

Classifications

• G01S2201/01

  adapted for specific applications or environments · CPC title

• G01S1/7034

  Mounting or deployment thereof · CPC title

• G01S5/163

  Determination of attitude (using inertial means G01C9/00; control of attitude G05D1/49) · CPC title

• G01C21/20

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title

• G06N20/00

  Machine learning · CPC title