Stereo-based calibration apparatus
First Claim
1. A method comprising:
- capturing a plurality of images of a virtual reality (VR) headset while the VR headset is rotated around one or more axes;
receiving a signal output by a inertial measurement unit (IMU) while the VR headset is rotated around the one or more axes;
calculating an expected rotation of the VR headset based on the received signal output by the IMU;
determining an actual rotation of the VR headset based on the plurality of captured images;
comparing the actual rotation of the VR headset and the expected rotation of the VR headset;
generating one or more dynamic calibration parameters based on the comparison; and
storing the dynamic calibration parameters for the VR headset, the calibration parameters usable to identify rotation of the VR headset during use of the VR headset.
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Accused Products
Abstract
A virtual reality (VR) headset calibration system calibrates a VR headset, which includes a plurality of locators and an inertial measurement unit (IMU) generating output signals indicative of motion of the VR headset. The system comprises a calibration controller configured to receive a headset model of the VR headset that identifies expected positions of each of the locators. The controller controls cameras to capture images of the VR headset while the headset is moved along a predetermined path. The images detect actual positions of the locators during the movement along the predetermined path. Calibration parameters for the locators are generated based on differences between the actual positions and the expected positions. Calibration parameters for the IMU are generated based on the calibration parameters for the locators and differences between expected and actual signals output by the IMU. The calibration parameters are stored to the VR headset.
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Citations
20 Claims
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1. A method comprising:
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capturing a plurality of images of a virtual reality (VR) headset while the VR headset is rotated around one or more axes; receiving a signal output by a inertial measurement unit (IMU) while the VR headset is rotated around the one or more axes; calculating an expected rotation of the VR headset based on the received signal output by the IMU; determining an actual rotation of the VR headset based on the plurality of captured images; comparing the actual rotation of the VR headset and the expected rotation of the VR headset; generating one or more dynamic calibration parameters based on the comparison; and storing the dynamic calibration parameters for the VR headset, the calibration parameters usable to identify rotation of the VR headset during use of the VR headset. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A non-transitory computer readable storage medium storing instructions, the instructions, when executed by a processor, cause the processor to:
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capture a plurality of images of a virtual reality (VR) headset while the VR headset is rotated around one or more axes; receive a signal output by a inertial measurement unit (IMU) while the VR headset is rotated around the one or more axes; calculate an expected rotation of the VR headset based on the received signal output by the IMU; determine an actual rotation of the VR headset based on the plurality of captured images; compare the actual rotation of the VR headset and the expected rotation of the VR headset; generate one or more dynamic calibration parameters based on the comparison; and store the dynamic calibration parameters for the VR headset, the calibration parameters usable to identify rotation of the VR headset during use of the VR headset. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system comprising:
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two or more cameras; and a calibration controller configured to; capture a plurality of images of a virtual reality (VR) headset while the VR headset is rotated around one or more axes; receive a signal output by a inertial measurement unit (IMU) while the VR headset is rotated around the one or more axes; calculate an expected rotation of the VR headset based on the received signal output by the IMU; determine an actual rotation of the VR headset based on the plurality of captured images; compare the actual rotation of the VR headset and the expected rotation of the VR headset; generate one or more dynamic calibration parameters based on the comparison; and store the dynamic calibration parameters for the VR headset, the calibration parameters usable to identify rotation of the VR headset during use of the VR headset. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification