Using a map of the world for augmented or virtual reality systems

• US 10,115,232 B2
• Filed: 05/06/2015
• Issued: 10/30/2018
• 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.
• Primary Examiner(s): Patel, Jitesh
• Application Number:
  US14/705,856
• Publication Number:
  US 20150302655A1
• Time in Patent Office: 1,273 Days
• 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:

a first individual augmented reality display system corresponding to a first location, wherein the first individual augmented reality display system is configured for capturing a first set of geometric map points pertaining to the first location;

a second individual augmented reality display system corresponding to a second location, wherein the second individual augmented reality display system is configured for capturing a second set of geometric map points pertaining to the second location;

a third individual augmented reality display system configured for capturing data pertaining to a particular location of a user; and

a server comprising a processor configured for receiving the first set of geometric map points from the first individual augmented reality display system and the second set of geometric map points from the second individual augmented reality display system, and constructing at least a portion of a passable geometric map of the real world comprising the first and second locations using a topological graph to spatially stitch the first and second sets of geometric map points together into a single larger coherent passable geometric map, wherein the processor is further configured for storing the single larger coherent passable geometric map in a database, for localizing the user within the single larger coherent map of the real world by comparing the captured data to the topological map, and retrieving a third set of the geometric points from the database pertaining to a plurality of real objects at the particular location of the user;

wherein the third individual augmented reality display system is configured for displaying virtual content to the user in relation to the plurality of real objects.

2. The augmented reality system of claim 1, wherein the first augmented reality display system is a head-mounted augmented reality display system.

3. The augmented reality display system of claim 1, wherein the first augmented reality display system is a room-based sensor system.

4. The augmented reality display system of claim 1, wherein the server is configured for transmitting the constructed at least portion of the passable geometric map of the real world to at least one of the first and second augmented reality display systems.

5. The augmented reality display system of claim 4, wherein at least one of the first and second augmented reality display systems is configured for projecting a virtual object based at least in part on the constructed at least portion of the passable geometric map of the real world.

6. The augmented reality display system of claim 1, wherein the captured first set of geometric data points and the second set of geometric data points are at least an images captured at the first and second location.

7. The augmented reality display system of claim 1, wherein the captured first set of geometric data points and the second set of geometric data points correspond to sensor data.

8. The augmented reality display system of claim 1, wherein the processor is configured for extracting a set of map points from the first set of geometric data points and the second set of geometric data points captured from the first and second augmented reality display systems, and for using the set of map points to construct the at least portion of the passable geometric map of the real world.

9. The augmented reality display system of claim 1, wherein the server is configured for transmitting a part of the at least portion of the passable geometric map of the real world corresponding to the first augmented reality display system to the second augmented reality display system.

10. The augmented reality display system of claim 1, wherein the captured first set of geometric data points and the second set of geometric data points comprise pose tagged images corresponding to the first location.

11. The augmented reality display system of claim 1, wherein the captured first set of geometric data points or the second set of geometric data points comprise pose information of the first and second augmented reality display systems, wherein the at least portion of the passable geometric map of the real world is constructed based at least in part on the pose information.

12. The augmented reality display system of claim 1, wherein the topological graph comprises color histograms, and wherein the processor is configured for using the color histograms to stitch the received first and second sets of geometric map points together into the single larger coherent passable geometric map.

13. The augmented reality display system of claim 1, wherein the topological graph comprises a plurality of nodes and a plurality of connections between the nodes.

14. The augmented reality display system of claim 13, wherein each of the nodes represents a particular location in the real world.

15. The augmented reality display system of claim 1, wherein the topological graph is layered over the geometric map data.

16. The augmented reality display system of claim 13, wherein the topological graph comprises information characterizing strengths of the connections between the nodes, wherein the received captured data is stitched together based on the received strengths of the connections between the nodes.

17. The augmented reality display system of claim 16, wherein the strengths of the connections are based on the number of shared captured data between the first individual augmented reality display system and the second individual augmented reality display system.

18. The augmented reality display system of claim 16, wherein the strengths of the connections are based on the geographical proximity between the nodes.

19. The augmented reality display system of claim 1, wherein the processor is configured for using the topological graph to identify where to stitch the received captured data together.

20. The augmented reality display system of claim 1, the database configured for storing a plurality of fingerprint data sets and the captured first set of geometric data points and the second set of geometric data points, the plurality of fingerprint data sets respectively characterizing physical spaces uniquely identifying the first and second locations;

wherein the processor is configured for constructing the topological map based at least in part on the fingerprint data sets, comparing the captured data to the topological map by comparing the captured data to the plurality of fingerprint data sets, and identifying the particular location as one of the first and second locations, wherein the fingerprint data set that uniquely identifies the identified location has less data than the retrieved third set of the geometric points.