Meta Platforms Technologies, LLC

Anastasios Mourikis

Richard Andrew Newcombe

Andrew Samuel Berkovich

Jakob Julian Engel

Shlomo Alkalay

Armin Alaghi

Vincent Lee

Muzaffer Kal

Raul Mur Artal

Amr Suleiman

In one embodiment, a computing system accesses a set of 3D locations associated with features in an environment previously captured by a camera from a previous camera pose. The computing system determines a predicted camera pose using the previous camera pose and motion measurements generated using a motion sensor associated with the camera. The computing system projects the set of 3D locations toward the predicted camera pose and onto a 2D image plane associated with the camera. The computing system generates, based on the projected set of 3D locations on the 2D image plane, an activation map specifying a subset of the pixel sensors of the camera that are to be activated. The computing system instructs, using the activation map, the camera to activate the subset of pixel sensors to capture a new image of the environment. The computing system reads pixel values of the new image.

Visual inertial odometry localization using sparse sensors

In one embodiment, a method includes determining correspondence data between a sequence of images based on identified features in the sequence of images and predicted pose based on motion data, and determining current state information based on the correspondence data and the motion data. The current state information comprises at least a current pose of the wearable device relative to the environment capture by the one or more cameras. Furthermore, the method comprises receiving map points in a three-dimensional map and their associated descriptors based on the identified features in the sequence of images and identifying one or more of the map points in the sequence of images based on the associated descriptors associated with the map points. The current state information is further determined based on the identified one or more of the map points.

Localization and mapping utilizing visual odometry

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Seattle, WA, United States of America

Anastasios Mourikis