US 11,935,180 B2
Dual IMU SLAM
Yu-Hsiang Huang, Mountain View, CA (US); Evan Gregory Levine, Mountain View, CA (US); Igor Napolskikh, San Francisco, CA (US); Dominik Michael Kasper, Zurich (CH); Manel Quim Sanchez Nicuesa, Zurich (CH); Sergiu Sima, Effretikon (CH); Benjamin Langmann, Zurich (CH); Ashwin Swaminathan, Dublin, CA (US); Martin Georg Zahnert, Zurich (CH); Blazej Marek Czuprynski, Zurich (CH); Joao Antonio Pereira Faro, Lausanne (CH); Christoph Tobler, Zurich (CH); and Omid Ghasemalizadeh, San Jose, CA (US)
Assigned to Magic Leap, Inc., Plantation, FL (US)
Filed by Magic Leap, Inc., Plantation, FL (US)
Filed on Apr. 7, 2022, as Appl. No. 17/715,880.
Application 17/715,880 is a continuation of application No. 17/072,825, filed on Oct. 16, 2020, granted, now 11,328,475.
Claims priority of provisional application 63/076,251, filed on Sep. 9, 2020.
Claims priority of provisional application 62/923,317, filed on Oct. 18, 2019.
Prior Publication US 2022/0230382 A1, Jul. 21, 2022
Int. Cl. G06T 15/20 (2011.01); G01C 19/00 (2013.01); G01P 7/00 (2006.01); G01P 13/00 (2006.01); G01P 15/08 (2006.01); G06F 3/01 (2006.01); G06T 19/00 (2011.01)
CPC G06T 15/20 (2013.01) [G01C 19/00 (2013.01); G01P 7/00 (2013.01); G01P 13/00 (2013.01); G01P 15/08 (2013.01); G06F 3/011 (2013.01); G06T 19/006 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, via a sensor of a wearable head device, first image data and second image data;
receiving, via a first inertial measurement unit (IMU) of the wearable head device, first inertial data and third inertial data;
receiving, via a second IMU of the wearable head device, second inertial data and fourth inertial data;
calculating a first preintegration term based on the first image data and based further on one or more of the first inertial data and the second inertial data;
calculating a second preintegration term based on the second image data and based further on one or more of the third inertial data and the fourth inertial data;
estimating a position of the wearable head device based on a combination of the first preintegration term and the second preintegration term; and
presenting virtual content, via a display of the wearable head device, based on the estimated position of the wearable head device.