METHOD AND SYSTEM FOR GENERATING MAP DATA FROM AN IMAGE
First Claim
1. A method of generating map data, comprising:
- capturing an image of a field of view of a user;
extracting a set of map points based on the captured image;
identifying respective sets of sparse points and dense points based on the extracted map points;
performing point normalization of the respective sets of sparse points and dense points;
generating sparse and dense point descriptors for the respective sets of sparse points and dense points; and
combining the sparse point descriptors and dense point descriptors to store as map data.
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Abstract
A waveguide apparatus includes a planar waveguide and at least one optical diffraction element (DOE) that provides a plurality of optical paths between an exterior and interior of the planar waveguide. A phase profile of the DOE may combine a linear diffraction grating with a circular lens, to shape a wave front and produce beams with desired focus. Waveguide apparati may be assembled to create multiple focal planes. The DOE may have a low diffraction efficiency, and planar waveguides may be transparent when viewed normally, allowing passage of light from an ambient environment (e.g., real world) useful in AR systems. Light may be returned for temporally sequentially passes through the planar waveguide. The DOE(s) may be fixed or may have dynamically adjustable characteristics. An optical coupler system may couple images to the waveguide apparatus from a projector, for instance a biaxially scanning cantilevered optical fiber tip.
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Citations
12 Claims
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1. A method of generating map data, comprising:
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capturing an image of a field of view of a user; extracting a set of map points based on the captured image; identifying respective sets of sparse points and dense points based on the extracted map points; performing point normalization of the respective sets of sparse points and dense points; generating sparse and dense point descriptors for the respective sets of sparse points and dense points; and combining the sparse point descriptors and dense point descriptors to store as map data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification