Running object recognizers in a passable world model for augmented or virtual reality

• US 10,198,864 B2
• Filed: 05/06/2015
• Issued: 02/05/2019
• Est. Priority Date: 04/18/2014
• Status: Active Grant

• Current Assignee: Magic Leap, Inc.
• Original Assignee: Magic Leap, Inc.
• Inventors: Miller, Samuel A.
• Primary Examiner(s): Vu, Kim Y
• Assistant Examiner(s): Vanchy, Jr., Michael J
• Application Number:
  US14/705,924
• Publication Number:
  US 20150302250A1
• Time in Patent Office: 1,371 Days
• CPC Class Codes: A63F 13/56 Computing the motion of game characters with respect to other game characters, game objects or elements of the game scene, e.g. for simulating the behaviour of a group of virtual soldiers or for path finding
• CPC Class Codes: A63F 13/57 Simulating properties, behaviour or motion of objects in the game world, e.g. computing tyre load in a car race game A63F13/56 takes precedence
• CPC Class Codes: A63F 13/577 using determination of contact between game characters or objects, e.g. to avoid collision between virtual racing cars
• CPC Class Codes: G02B 2027/0138 comprising image capture systems, e.g. camera
• CPC Class Codes: G02B 2027/014 comprising information/image processing systems
• CPC Class Codes: G02B 2027/0178 Eyeglass type eyeglass details G02C
• CPC Class Codes: G02B 2027/0187 slaved to motion of at least a part of the body of the user, e.g. head, eye
• CPC Class Codes: G02B 27/0093 with means for monitoring data relating to the user, e.g. head-tracking, eye-tracking
• CPC Class Codes: G02B 27/0101 characterised by optical features G02B27/0172 takes precedence
• CPC Class Codes: G02B 27/017 Head mounted
• CPC Class Codes: G02B 27/0172 characterised by optical features
• CPC Class Codes: G02B 27/0179 Display position adjusting means not related to the information to be displayed
• CPC Class Codes: G06F 3/005 Input arrangements through a video camera
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/012 Head tracking input arrangements
• CPC Class Codes: G06F 3/013 Eye tracking input arrangements G06F3/015 takes precedence
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/017 Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06F 3/16 Sound input; Sound output speech processing G10L
• CPC Class Codes: G06F 3/167 : Audio in a user interface, e.g. using voice commands for navigating, audio feedback
• CPC Class Codes: G06Q 30/02 : Marketing; Price estimation or determination; Fundraising
• CPC Class Codes: G06T 11/60 : Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 13/40 : of characters, e.g. humans, animals or virtual beings
• CPC Class Codes: G06T 13/80 : 2D [Two Dimensional] animation, e.g. using sprites
• CPC Class Codes: G06T 15/10 : Geometric effects
• CPC Class Codes: G06T 19/003 : Navigation within 3D models or images
• CPC Class Codes: G06T 19/006 : Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00
• CPC Class Codes: G06T 2200/04 : involving 3D image data
• CPC Class Codes: G06T 2213/08 : Animation software package
• CPC Class Codes: G06T 2215/16 : Using real world measurements to influence rendering
• CPC Class Codes: G06T 2219/024 : Multi-user, collaborative environment
• CPC Class Codes: G06T 7/60 : Analysis of geometric attributes
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 20/10 : Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59
• CPC Class Codes: G06V 20/20 : in augmented reality scenes
• CPC Class Codes: G06V 20/653 : by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces
• CPC Class Codes: G06V 20/80 : Recognising image objects characterised by unique random patterns
• CPC Class Codes: H04S 2400/11 : Positioning of individual sound objects, e.g. moving airplane, within a sound field H04S2420/13 takes precedence
• CPC Class Codes: H04S 2400/15 : Aspects of sound capture and related signal processing for recording or reproduction
• CPC Class Codes: H04S 7/304 : For headphones

Abstract

An augmented reality system comprises one or more databases storing a passable world model data comprising a set of points pertaining to real objects of the physical world, and one or more object recognizers configured for running on the passable world model data. Each of the object recognizer(s) is programmed to recognize a predetermined object of the real world based on a known geometry of a corresponding set of points. The augmented reality system further comprises a head-worn augmented reality display system configured for displaying virtual content to a user based at least in part on the recognized object.

Claims

1. An augmented reality system, comprising:

one or more databases storing a passable world model data comprising sets of points respectively pertaining to real objects of the physical world;

a plurality of object recognizers configured for simultaneously running on the passable world model data independent of each other, each of the object recognizers being programmed to recognize an object of the real world based on a known geometry of the object corresponding to a set of points of the passable world model data; and

a head-worn augmented reality display system configured for displaying virtual content to a user based at least in part on the recognized object;

wherein each of the object recognizers is dedicated to recognize a predetermined object;

wherein each of the object recognizers is autonomic and autonomous; and

wherein the object recognizers comprise a basic object recognizer configured for running on the passable world model data to identify a generic object, and a detailed object recognizer configured for running non the passable world model data on the generic objects to identify a specific object.

2. The augmented reality system of claim 1, wherein the passable world model data comprises parametric geometric data corresponding to the physical world.

3. The augmented reality system of claim 1, wherein the passable world model data is constructed from data received from a plurality of augmented reality display systems, wherein the plurality of augmented reality display systems capture data pertaining to a plurality of locations in the physical world.

4. The augmented reality system of claim 1, wherein the map points are 2D points.

5. The augmented reality system of claim 1, wherein each of the recognizers utilizes captured depth information to recognize the respective object.

6. The augmented reality system of claim 1, wherein the map points correspond to one or more images captured by one or more augmented reality display systems, and wherein each of the object recognizers is configured for identifying the known geometry of the respective recognized object relative to a known position of the one or more augmented reality display systems.

7. The augmented reality system of claim 1, wherein each of the object recognizers is configured for synchronizing a parametric geometry of the respective recognized object to the passable world model.

8. The augmented reality system of claim 7, wherein each of the object recognizers is configured for attaching semantic information to the parametric geometry of the respective recognized object.

9. The augmented reality system of claim 8, wherein the semantic information may be utilized to estimate a future position of the respective recognized object.

10. The augmented reality system of claim 8, wherein the semantic information is a taxonomical descriptor.

11. The augmented reality system of claim 1, wherein each of the object recognizers is configured for receiving sparse points collected from one or more images of the physical world.

12. The augmented reality system of claim 11, wherein each of the object recognizers is configured for outputting a parametric geometry of the respective recognized object.

13. The augmented reality display system of claim 1, wherein the object recognizers comprise a ring of object recognizers that run on the passable world model data, wherein the ring of object recognizers comprises at least two object recognizers, and wherein a first object recognizer of the at least two object recognizers recognizes a first object, and wherein a second object recognizer of the at least two object recognizers recognizes a subset of the first object.