ESTIMATING POSE IN 3D SPACE
First Claim
1. An imaging system comprising:
- an image capture device comprising a lens and an image sensor, the lens configured to direct light from an environment surrounding the image capture device to the image sensor, the image sensor configured to;
sequentially capture a first plurality of image segments of an image based on the light from the environment, the image representing a field of view (FOV) of the image capture device, the FOV comprising a portion of the environment and including a plurality of sparse points, andsequentially capture a second plurality of image segments, the second plurality of image segments captured after the first plurality of image segments and forming at least another portion of the image;
non-transitory data storage configured to sequentially receive the first and second plurality of image segments from the image sensor and store instructions for estimating at least one of a position and orientation of the image capture device within the environment; and
at least one hardware processor operably coupled to the non-transitory data storage and configured by the instructions to;
identify a first group of sparse points based in part on a corresponding subset of the first plurality of image segments, the first group of sparse points identified as the first plurality of image segments are received at the non-transitory data storage,determine at least one of the position and orientation of the imaging device within the environment based on the first group of sparse points,identify a second group of sparse points based in part on a corresponding subset of the second plurality of image segments, the second group of sparse points identified as the second plurality of image segments are received at the non-transitory data storage, andupdate the at least one of the position and orientation of the imaging device within the environment based on the first and second group of sparse points.
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Accused Products
Abstract
Methods and devices for estimating position of a device within a 3D environment are described. Embodiments of the methods include sequentially receiving multiple image segments forming an image representing a field of view (FOV) comprising a portion of the environment. The image includes multiple sparse points that are identifiable based in part on a corresponding subset of image segments of the multiple image segments. The method also includes sequentially identifying one or more sparse points of the multiple sparse points when each subset of image segments corresponding to the one or more sparse points is received and estimating a position of the device in the environment based on the identified the one or more sparse points.
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Citations
20 Claims
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1. An imaging system comprising:
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an image capture device comprising a lens and an image sensor, the lens configured to direct light from an environment surrounding the image capture device to the image sensor, the image sensor configured to; sequentially capture a first plurality of image segments of an image based on the light from the environment, the image representing a field of view (FOV) of the image capture device, the FOV comprising a portion of the environment and including a plurality of sparse points, and sequentially capture a second plurality of image segments, the second plurality of image segments captured after the first plurality of image segments and forming at least another portion of the image; non-transitory data storage configured to sequentially receive the first and second plurality of image segments from the image sensor and store instructions for estimating at least one of a position and orientation of the image capture device within the environment; and at least one hardware processor operably coupled to the non-transitory data storage and configured by the instructions to; identify a first group of sparse points based in part on a corresponding subset of the first plurality of image segments, the first group of sparse points identified as the first plurality of image segments are received at the non-transitory data storage, determine at least one of the position and orientation of the imaging device within the environment based on the first group of sparse points, identify a second group of sparse points based in part on a corresponding subset of the second plurality of image segments, the second group of sparse points identified as the second plurality of image segments are received at the non-transitory data storage, and update the at least one of the position and orientation of the imaging device within the environment based on the first and second group of sparse points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A head mounted display (HMD) configured to be worn on the head of a user, the HMD comprising:
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a frame; a display supported by the frame and disposed forward of an eye of the user; an outward facing image capture device disposed on the frame and comprising a lens and an image sensor, the lens configured to direct light from an environment surrounding the HMD to the image sensor and the image sensor configured to sequentially capture a plurality of image segments of an image based on the light from the environment, the image representing a field of view (FOV) of the outward facing image capture device, the FOV comprising a portion of an environment and including a plurality of sparse points, wherein each sparse point is identifiable in part based on a corresponding subset of the plurality of image segments; non-transitory data storage configured to sequentially receive the plurality of image segments from the image sensor and store instructions for estimating at least one of a position and orientation of the HMD within the environment; and at least one hardware processor operably coupled to the non-transitory data storage and configured by the instructions to; sequentially identify one or more sparse points of the plurality of sparse points when each subset of image segments corresponding to the one or more sparse points is received at the non-transitory data storage, and estimate the at least one of the position and orientation of the HMD within the environment based on the identified the one or more sparse points. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification