Dual IMU SLAM

Dual IMU SLAM

Examples of the disclosure describe systems and methods for presenting virtual content on a wearable head device. In some embodiments, a state of a wearable head device is determined by minimizing a total error based on a reduced weight associated with a reprojection error. A view reflecting the det...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Huang, Yu-Hsiang, Faro, Joao Antonio Pereira, Kasper, Dominik Michael, Levine, Evan Gregory, Langmann, Benjamin, Napolskikh, Igor, Tobler, Christoph, Zahnert, Martin Georg, Sima, Sergiu, Swaminathan, Ashwin, Czuprynski, Blazej Marek, Ghasemalizadeh, Omid, Sanchez Nicuesa, Manel Quim
Format: Patent
Sprache:eng
Schlagworte:
CALCULATING
COMPUTING
COUNTING
ELECTRIC DIGITAL DATA PROCESSING
GYROSCOPIC INSTRUMENTS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION,OR SHOCK
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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Beschreibung
Zusammenfassung:Examples of the disclosure describe systems and methods for presenting virtual content on a wearable head device. In some embodiments, a state of a wearable head device is determined by minimizing a total error based on a reduced weight associated with a reprojection error. A view reflecting the determined state of the wearable head device is presented via a display of the wearable head device. In some embodiments, a wearable head device calculates a preintegration term based on the image data received via a sensor of the wearable head device and the inertial data received via a first IMU and a second IMU of the wearable head device. The wearable head device estimates a position of the device based on the preintegration term, and the wearable head device presents the virtual content based on the position of the device.