| CPC G06T 15/20 (2013.01) [G06T 7/20 (2013.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G06T 2207/30241 (2013.01); G06T 2207/30244 (2013.01)] | 20 Claims |
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1. A method of generating a ground truth output dataset using an eyewear device comprising a processor, a camera, and an inertial measurement unit, the method comprising steps of:
recording a primary reference set using the eyewear device in motion traversing a path through a physical environment, wherein the primary reference set comprises a series of real images captured by the camera and a series of real motion data captured by the inertial measurement unit;
generating, by the processor, a virtual path through a virtual environment, wherein the virtual path is based on the path traversed through the physical environment;
calculating, by the processor, a headset trajectory based on the primary reference set;
generating, by the processor, a continuous time trajectory function for interpolating the headset trajectory relative to the series of real motion data;
presenting on a display a simulated sensor configuration comprising a simulated camera and a simulated inertial measurement unit sensor; and
generating, by the processor, an output dataset associated with the simulated sensor configuration and in accordance with the continuous time trajectory function, such that the output dataset represents the simulated sensor configuration in motion along the virtual path.
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