Safety for wearable virtual reality devices via object detection and tracking

• US 10,475,249 B2
• Filed: 08/03/2018
• Issued: 11/12/2019
• Est. Priority Date: 04/17/2014
• Status: Active Grant

• Current Assignee: Lmi Liquidating Co., LLC
• Original Assignee: Ultrahaptics Ip Two Limited (Ultraleap Holdings Ltd.)
• Inventors: Holz, David S., Gordon, Robert Samuel, Perez, Matias
• Primary Examiner(s): Hajnik, Daniel F
• Application Number:
  US16/055,012
• Publication Number:
  US 20190073829A1
• Time in Patent Office: 466 Days
• CPC Class Codes: G06F 3/00 Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
• 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: G06T 19/006 Mixed reality object pose determination, tracking or camera calibration for mixed reality G06T7/00
• CPC Class Codes: G06V 40/28 Recognition of hand or arm movements, e.g. recognition of deaf sign language static hand signs G06V40/113

Abstract

The technology disclosed can provide improved safety by detecting potential unsafe conditions (e.g., collisions, loss of situational awareness, etc.) confronting the user of a wearable (or portable) sensor configured to capture motion and/or determining the path of an object based on imaging, acoustic or vibrational waves. Implementations can enable improved safety to users of virtual reality for machine control and/or machine communications applications using wearable (or portable) devices, e.g., head mounted displays (HMDs), wearable goggles, watch computers, smartphones, and so forth, or mobile devices, e.g., autonomous and semi-autonomous robots, factory floor material handling systems, autonomous mass-transit vehicles, automobiles (human or machine driven), and so forth, equipped with suitable sensors and processors employing optical, audio or vibrational detection.

Claims

1. A method of detecting a physical object during a virtual reality experience, the method including:

using at least one camera in connection with a wearable virtual reality device to capture a sequence of images of a real world environment near a user wearing the device;

using features in some images of the sequence of images to track proximity of at least one physical object near the user, including;

at a first time t0, using a sensor, sensing a first position for at least one physical object in a first reference frame of the real world environment;

causing display of a first virtual representation of the physical object at the first position, wherein the first virtual representation is rendered in a virtual environment of the device; and

at a second time t1, responsive to repositioning of the real world environment and the sensor due to body movement of the user, sensing, in the real world environment, a second position of the physical object and at least some portions of the physical object that appear different from the first position; and

causing display of a second virtual representation of the physical object at an actual second position, including;

sensing motion of the wearable virtual reality device and calculating a second reference frame that accounts for repositioning of the device;

calculating a transformation that renders the first position in the first reference frame and the second position in the second reference frame into a common reference frame; and

transforming the first position and the second position of the physical object into the common reference frame, wherein the common reference frame has a fixed point of reference and an initial orientation of axes, whereby a sensed second position is transformed to the actual second position; and

responsive to detecting that either one of the wearable virtual reality device and the physical object is approaching the other, automatically generating an alert to be injected into a virtual reality experience of the user.

2. The method of claim 1, further including:

correlating multiple images to detect relative motion between at least one approaching physical object and the user; and

responsive to detecting the approaching physical object within a proximity threshold, automatically generating an alert to be injected into a virtual reality experience of the user.

3. The method of claim 2, wherein automatically generating the alert further includes generating data that represents the approaching physical object in a virtual environment of the wearable virtual reality device.

4. The method of claim 2, further including entering a pass through mode that interrupts the virtual reality experience and substitutes a live feed of the real world environment in a virtual environment of the wearable virtual reality device.

5. The method of claim 2, wherein automatically generating the alert further includes generating a physical warning feedback.

6. The method of claim 5, wherein the physical warning feedback is a haptic feedback.

7. The method of claim 5, wherein the physical warning feedback is an audio message generated by the wearable virtual reality device.

8. The method of claim 5, wherein the physical warning feedback is a visual feedback generated in a virtual environment of the wearable virtual reality device.

9. The method of claim 2, further including using features in the images to distinguish among different approaching physical objects in the real world environment.

10. The method of claim 2, further including using features in the images to distinguish among different perspectives of a particular approaching physical object from varying vantage points of the at least one camera.

11. The method of claim 1, wherein the common reference frame is a world reference frame that does not change as the wearable virtual reality device is repositioned.

12. The method of claim 1, wherein the common reference frame is the second reference frame.

13. The method of claim 1, wherein the transforming the first position and the second position of the physical object into the common reference frame further includes applying an affine transformation.

14. The method of claim 1, further including determining an orientation of the physical object at the first position with respect to the first reference frame and causing the display of the physical object accordingly.

15. The method of claim 1, further including determining an orientation of the physical object at the second position with respect to the second reference frame and causing the display of the physical object accordingly.

16. The method of claim 1, wherein using features in some images of the sequence of images to track proximity of at least one physical object ahead of the user further includes detecting at least one difference between the features between times t0 and t1 using at least one of a:

vector field flow; and

probabilistic flow.

17. The method of claim 1, the method further including:

creating a virtual three-dimensional (3D) map of a real world environment surrounding a user of a virtual reality device using at least one camera coupled to the virtual reality device that captures a sequence of images of the real world environment;

using features in some images of the sequence of images to detect positions and shapes of one or more physical objects in the real world environment and incorporating the physical objects detected as 3D constraints in the virtual three-dimensional (3D) map, wherein the physical objects detected as 3D constraints represent actual positions and shapes of the physical objects in the real world environment;

localizing a position of the virtual reality device in the real world environment; and

responsive to detecting an approaching 3D constraint within a proximity threshold of the user using the virtual reality device, automatically signaling the virtual reality device to generate an alert to the user.

18. The method of claim 17, wherein automatically generating the alert further includes at least one of:

generating data that represents an approaching physical object in a virtual environment of the virtual reality device;

entering a pass through mode that interrupts the virtual reality experience and substitutes a live feed of the real world environment in a virtual environment of the virtual reality device; and

generating a physical warning feedback, including;

a haptic feedback;

an audio message generated by the virtual reality device; and

a visual feedback generated in a virtual environment of the virtual reality device.

19. A non-transitory computer readable medium impressed with instructions for detecting a physical object during a virtual reality experience, which instructions when executed by one or more processors cause the processors to perform the following:

using at least one camera in connection with a wearable virtual reality device to capture a sequence of images of a real world environment near a user wearing the device;

using features in some images of the sequence of images to track proximity of at least one physical object near the user, including;

at a first time t0, using a sensor, sensing a first position for at least one physical object in a first reference frame of the real world environment;

causing display of a first virtual representation of the physical object at the first position, wherein the first virtual representation is rendered in a virtual environment of the device; and

at a second time t1, responsive to repositioning of the real world environment and the sensor due to body movement of the user, sensing, in the real world environment, a second position of the physical object and at least some portions of the physical object that appear different from the first position; and

causing display of a second virtual representation of the physical object at an actual second position, including;

sensing motion of the wearable virtual reality device and calculating a second reference frame that accounts for repositioning of the device;

calculating a transformation that renders the first position in the first reference frame and the second position in the second reference frame into a common reference frame; and

transforming the first position and the second position of the physical object into the common reference frame, wherein the common reference frame has a fixed point of reference and an initial orientation of axes, whereby a sensed second position is transformed to the actual second position; and

responsive to detecting that either one of the wearable virtual reality device and the physical object is approaching the other, automatically generating an alert to be injected into a virtual reality experience of the user.

20. A system, including:

a wearable virtual reality device;

at least one camera mounted to the wearable virtual reality device that captures a sequence of images of a real world environment ahead of a user wearing the device; and

a computer readable medium including instructions for detecting at least one physical object during a virtual reality experience, which instructions when executed by one or more processors cause the one or more processors to perform the following;

using the at least one camera in connection with the wearable virtual reality device to capture the sequence of images of the real world environment ahead of the user wearing the device;

using features in some images of the sequence of images to track proximity of the at least one physical object ahead of the user, including;

at a first time t0, using a sensor, sensing a first position for the at least one physical object in a first reference frame of the real world environment;

causing display of a first virtual representation of the physical object at the first position, wherein the first virtual representation is rendered in a virtual environment of the wearable virtual reality device; and

at a second time t1, responsive to repositioning of the real world environment and the sensor due to body movement of the user, sensing, in the real world environment, a second position of the physical object and at least some portions of the physical object that appear different from the first position; and

causing display of a second virtual representation of the physical object at an actual second position, including;

sensing motion of the wearable virtual reality device and calculating a second reference frame that accounts for repositioning of the device;

calculating a transformation that renders the first position in the first reference frame and the second position in the second reference frame into a common reference frame; and

transforming the first position and the second position of the physical object into the common reference frame, wherein the common reference frame has a fixed point of reference and an initial orientation of axes, whereby a sensed second position is transformed to the actual second position; and

responsive to detecting that either one of the wearable virtual reality device and the physical object is approaching the other, automatically generating an alert to be injected into a virtual reality experience of the user.