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1. (WO2019005999) METHOD AND SYSTEM FOR PERFORMING SIMULTANEOUS LOCALIZATION AND MAPPING USING CONVOLUTIONAL IMAGE TRANSFORMATION
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Pub. No.: WO/2019/005999 International Application No.: PCT/US2018/039804
Publication Date: 03.01.2019 International Filing Date: 27.06.2018
IPC:
G06K 9/46 (2006.01) ,G06K 9/62 (2006.01)
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
K
RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9
Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
36
Image preprocessing, i.e. processing the image information without deciding about the identity of the image
46
Extraction of features or characteristics of the image
G PHYSICS
06
COMPUTING; CALCULATING; COUNTING
K
RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9
Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62
Methods or arrangements for recognition using electronic means
Applicants:
MAGIC LEAP, INC. [US/US]; 7500 W. Sunrise Blvd. Plantation, Florida 33322, US
Inventors:
DETONE, Daniel L.; US
MALISIEWICZ, Tomasz Jan; US
RABINOVICH, Andrew; US
Agent:
MELLOR, Brett L.; US
LARGENT, Craig; US
Priority Data:
62/526,20328.06.2017US
Title (EN) METHOD AND SYSTEM FOR PERFORMING SIMULTANEOUS LOCALIZATION AND MAPPING USING CONVOLUTIONAL IMAGE TRANSFORMATION
(FR) PROCÉDÉ ET SYSTÈME PERMETTANT DE RÉALISER UN MAPPAGE ET UNE LOCALISATION SIMULTANÉS À L'AIDE D'UNE TRANSFORMATION D'IMAGE CONVOLUTIONNELLE
Abstract:
(EN) Augmented reality devices and methods for computing a homography based on two images. One method may include receiving a first image based on a first camera pose and a second image based on a second camera pose, generating a first point cloud based on the first image and a second point cloud based on the second image, providing the first point cloud and the second point cloud to a neural network, and generating, by the neural network, the homography based on the first point cloud and the second point cloud. The neural network may be trained by generating a plurality of points, determining a 3D trajectory, sampling the 3D trajectory to obtain camera poses viewing the points, projecting the points onto 2D planes, comparing a generated homography using the projected points to the ground-truth homography and modifying the neural network based on the comparison.
(FR) L'invention concerne des dispositifs et des procédés de réalité augmentée permettant de calculer une homographie sur la base de deux images. Un procédé peut consister à recevoir une première image sur la base d'une première pose de caméra et une seconde image sur la base d'une seconde pose de caméra, à générer un premier nuage de points sur la base de la première image et un second nuage de points sur la base de la seconde image, à fournir le premier nuage de points et le second nuage de points à un réseau neuronal, et à générer, par le réseau neuronal, l'homographie sur la base du premier nuage de points et du second nuage de points. Le réseau neuronal peut être entraîné par la génération d'une pluralité de points, la détermination d'une trajectoire 3D, l'échantillonnage de la trajectoire 3D pour obtenir des poses de caméra visualisant les points, la projection des points sur des plans 2D, la comparaison d'une homographie générée à l'aide des points projetés à l'homographie de réalité au sol et la modification du réseau neuronal sur la base de la comparaison.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)