US 11,838,606 B2
Methods and systems for large-scale determination of RGBD camera poses
Xiaolin Wei, Fremont, CA (US)
Assigned to Magic Leap, Inc., Plantation, FL (US)
Filed by Magic Leap, Inc., Plantation, FL (US)
Filed on Apr. 17, 2019, as Appl. No. 16/387,406.
Application 16/387,406 is a continuation of application No. 15/356,372, filed on Nov. 18, 2016, granted, now 10,313,639.
Claims priority of provisional application 62/258,316, filed on Nov. 20, 2015.
Prior Publication US 2019/0253674 A1, Aug. 15, 2019
Int. Cl. G06T 7/33 (2017.01); H04N 23/10 (2023.01); G06T 7/73 (2017.01)
CPC H04N 23/10 (2023.01) [G06T 7/33 (2017.01); G06T 7/73 (2017.01); G06T 2200/04 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20224 (2013.01); G06T 2207/30244 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A method for refining poses, the method comprising:
(a) receiving a plurality of poses each associated with one of a plurality of captured depth images, wherein each of the plurality of captured depth images is associated with one of a plurality of captured depth maps;
(b) performing volumetric reconstruction for the plurality of poses to produce a polygonal mesh corresponding to a global geometry;
(c) rendering, using the polygonal mesh, a depth map associated with each of the plurality of poses;
(d) aligning each captured depth map of the plurality of captured depth maps to each rendered depth map associated with each of the plurality of poses to provide refined poses; and
(e) iterating on (b), (c), and (d) using the refined poses for a predetermined number of iterations.