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1. (WO2018004863) ESTIMATING POSE IN 3D SPACE

Pub. No.:    WO/2018/004863    International Application No.:    PCT/US2017/033139
Publication Date: Fri Jan 05 00:59:59 CET 2018 International Filing Date: Thu May 18 01:59:59 CEST 2017
IPC: G02B 27/01
G06F 3/01
G06T 7/00
G06T 11/00
G06T 17/00
G06T 17/05
Applicants: MAGIC LEAP, INC.
Inventors: KAEHLER, Adrian
BRADSKI, Gary
Title: ESTIMATING POSE IN 3D SPACE
Abstract:
Methods and devices for estimating position of a device within a 3D environment are described. Embodiments of the methods include sequentially receiving multiple image segments forming an image representing a field of view (FOV) comprising a portion of the environment. The image includes multiple sparse points that are identifiable based in part on a corresponding subset of image segments of the multiple image segments. The method also includes sequentially identifying one or more sparse points of the multiple sparse points when each subset of image segments corresponding to the one or more sparse points is received and estimating a position of the device in the environment based on the identified the one or more sparse points.