RENDERING TECHNIQUES TO FIND NEW MAP POINTS IN AUGMENTED OR VIRTUAL REALITY SYSTEMS

• US 20150302644A1
• Filed: 05/07/2015
• Published: 10/22/2015
• Est. Priority Date: 04/18/2014
• Status: Active Grant

• Current Assignee: Magic Leap, Inc.
• Original Assignee: Magic Leap, Inc.
• Inventors: MILLER, Samuel A., HAND, Randall E.
• Granted Patent: US 10,043,312 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 display system comprises a passable world model data comprises a set of map points corresponding to one or more objects of the real world. The augmented reality system also comprises a processor to communicate with one or more individual augmented reality display systems to pass a portion of the passable world model data to the one or more individual augmented reality display systems, wherein the piece of the passable world model data is passed based at least in part on respective locations corresponding to the one or more individual augmented reality display systems.

Claims

1. An augmented reality system, comprising:

one or more sensors to capture a set of map points pertaining to the real world, wherein the set of map points are captured through a plurality of augmented reality systems;

a processor to determine a position of a plurality of keyframes that captured the set of map points, and to determine a set of new map points based at least in part on the captured set of map points and the determined position of the plurality of keyframes.

2. The augmented reality system of claim 1, wherein the processor renders a line from the determined position of the plurality of keyframes to respective map points captured from the plurality of keyframes, wherein the set of new map points are determined based on the render.

3. The augmented reality system of claim 2, wherein the processor identifies a point of intersection between multiple rendered lines, and wherein the set of new points are determined based at least in part on the identified points of intersection.

4. The augmented reality system of claim 1, wherein the processor renders a triangular cone from the determined position of the plurality of keyframes to respective map points captured from the plurality of keyframes, wherein the captured map point lies on a bisector of the triangular cone.

5. The augmented reality system of claim 4, wherein the processor selectively shades the triangular cone such that the bisector of the triangular cone is the brightest portion of the triangular cone.

6. The augmented reality system of claim 5, wherein the processor identifies points of intersection between at least two rendered triangular cones, wherein the set of new map points are based at least in part on the identified points of intersection.

7. The augmented reality system of claim 6, wherein the set of new map points are determined based at least in part on the brightness of the identified points of intersection.

8. The augmented reality system of claim 3, wherein the set of new map points are determined based at least in part on a pixel pitch corresponding to the identified points of intersection.

9. The augmented reality system of claim 6, wherein the set of new map points are determined based at least in part on a pixel pitch corresponding to the identified points of intersection.

10. The augmented reality system of claim 1, wherein the processor places a virtual keyframe in relation to an existing set of keyframes, wherein the set of new map points are determined based at least in part on the virtual keyframe.

11. The augmented reality system of claim 10, wherein the processor determines a most orthogonal direction to the existing set of keyframes, and positions the virtual keyframe at the determined orthogonal direction.

12. The augmented reality system of claim 11, wherein the most orthogonal direction is determined along an x coordinate.

13. The augmented reality system of claim 11, wherein the most orthogonal direction is determined along a y coordinate.

14. The augmented reality system of claim 11, wherein the most orthogonal direction is determined along a z coordinates.

15. The augmented reality system of claim 11, wherein the processor renders lines from the virtual keyframe to the set of map points, and determines the new map points based at least in part on one or more points of intersection of the rendered lines.

16. The augmented reality system of claim 15, wherein the processor applies a summing buffer to determine the points of intersection.

17. The augmented reality system of claim 11, wherein the processor renders triangular cones from the virtual keyframe to the set of map points, and determines the new map points based at least in part on one or more points of intersection.

18. The augmented reality system of claim 17, wherein the processor performs a bundle adjust to correct a location of a new map point of the set of new map points.

19. The augmented reality system of 11, wherein the set of new map points are added to a map of the real world.

20. The augmented reality system of claim 19, wherein virtual content is delivered to one or more augmented reality display systems based at least in part on the map of the real world.