The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 24, 2024
Filed:
May. 10, 2021
Magic Leap, Inc., Plantation, FL (US);
Lipu Zhou, Sunnyvale, CA (US);
Frank Thomas Steinbruecker, Mountain View, CA (US);
Ashwin Swaminathan, Dublin, CA (US);
Hui Ju, Mountain House, CA (US);
Daniel Esteban Koppel, San Jose, CA (US);
Konstantinos Zampogiannis, San Jose, CA (US);
Pooja Piyush Mehta, Santa Clara, CA (US);
Vinayram Balakumar, San Francisco, CA (US);
Magic Leap, Inc., Plantation, FL (US);
Abstract
Methods and apparatus for providing a representation of an environment, for example, in an XR system, and any suitable computer vision and robotics applications. A representation of an environment may include one or more planar features. The representation of the environment may be provided by jointly optimizing plane parameters of the planar features and sensor poses that the planar features are observed at. The joint optimization may be based on a reduced matrix and a reduced residual vector in lieu of the Jacobian matrix and the original residual vector.