Stress reduction in geometric maps of passable world model in augmented or virtual reality systems
First Claim
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1. An augmented or virtual reality system, comprising:
- a set of map points captured in a plurality of existing keyframes from a real world by a set of augmented or virtual reality display systems;
a data structure to receive or store the set of map points captured from the real world;
a processor communicatively coupled to the data structure to construct or update a geometric map of the real world based at least in part on the set of map points, whereina node in the geometric map comprises a keyframe that captures at least a subset of map points of the set of map points, anda strength of a connection between two nodes in the geometric map corresponds to a number of map points shared between the two nodes;
the processor further configured to generate or update a simplified map corresponding to the geometric map at least by representing the real world with a plurality of point nodes corresponding to the plurality of existing keyframes and connecting the plurality of point nodes with a set of edges;
the processor further configured to determine and position a virtual keyframe in relation to a normal direction of at least one existing keyframe of the plurality of existing keyframes, anda head worn or mounted display coupled to the processor, comprising a waveguide, and configured to project light beams to at least one eye of a user based at least in part upon the geometric map, the simplified map, and the virtual keyframe that is determined and positioned in relation to a normal direction of at least one existing keyframe of the plurality of existing keyframes.
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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.
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Citations
20 Claims
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1. An augmented or virtual reality system, comprising:
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a set of map points captured in a plurality of existing keyframes from a real world by a set of augmented or virtual reality display systems; a data structure to receive or store the set of map points captured from the real world; a processor communicatively coupled to the data structure to construct or update a geometric map of the real world based at least in part on the set of map points, wherein a node in the geometric map comprises a keyframe that captures at least a subset of map points of the set of map points, and a strength of a connection between two nodes in the geometric map corresponds to a number of map points shared between the two nodes; the processor further configured to generate or update a simplified map corresponding to the geometric map at least by representing the real world with a plurality of point nodes corresponding to the plurality of existing keyframes and connecting the plurality of point nodes with a set of edges; the processor further configured to determine and position a virtual keyframe in relation to a normal direction of at least one existing keyframe of the plurality of existing keyframes, and a head worn or mounted display coupled to the processor, comprising a waveguide, and configured to project light beams to at least one eye of a user based at least in part upon the geometric map, the simplified map, and the virtual keyframe that is determined and positioned in relation to a normal direction of at least one existing keyframe of the plurality of existing keyframes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification