Magic Leap, Inc.

Etienne Gregoire Grossman

Ashwin Swaminathan

Jean-Yves Bouguet

Dennis William Strelow

Ankur Gupta

Divya Sharma

Evan Gregory Levine

Igor Napolskikh

Mohamed Souiai

Yu-Hsiang Huang

Adam Harmat

Yu-Tseh Chi

Lei Huang

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for calibrating an augmented reality device using camera and inertial measurement unit data. In some implementations, a bundle adjustment process jointly optimizes or estimates states of the augmented reality device. The process can use, as input, visual and inertial measurements as well as factory-calibrated sensor extrinsic parameters. The process performs bundle adjustment and uses non-linear optimization of estimated states constrained by the measurements and the factory calibrated extrinsic parameters. The process can jointly optimize inertial constraints, IMU calibration, and camera calibrations. Output of the process can include most likely estimated states, such as data for a 3D map of an environment, a trajectory of the device, and/or updated extrinsic parameters of the visual and inertial sensors (e.g., cameras and IMUs).

Joint camera and inertial measurement unit calibration

Growing community of inventors

Plantation, FL, United States of America

Etienne Gregoire Grossman