Magic Leap, Inc.

Christoph Tobler

Benjamin Langmann

Ashwin Swaminathan

Martin Georg Zahnert

Dominik Michael Kasper

Joao Antonio Pereira Faro

Omid Ghasemalizadeh

Evan Gregory Levine

Sergiu Sima

Igor Napolskikh

Yu-Hsiang Huang

Manel Quim Sanchez Nicuesa

Blazej Marek Czuprynski

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.

Dual IMU SLAM

An apparatus configured for head-worn by a user, includes: a screen configured to present graphics for the user; a camera system configured to view an environment in which the user is located; and a processing unit coupled to the camera system, the processing unit configured to: obtain a feature detection response for a first image, divide the feature detection response into a plurality of patches having a first patch and a second patch, determine a first maximum value in the first patch of the feature detection response, and identify a first set of one or more features for a first region of the first image based on a first criterion that relates to the determined first maximum value.

Methods and apparatuses for corner detection

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 first preintegration term and second 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 first and second preintegration terms, and the wearable head device presents the virtual content based on the position of the device.

Gravity estimation and bundle adjustment for visual-inertial odometry

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Zurich, Switzerland

Christoph Tobler